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With the advent of robotics and artificial intelligence, the potential for automating tasks within human-centric environments has increased significantly. This is particularly relevant in the retail sector where the demand for efficient operations and the shortage of labor drive the need for rapid advancements in robot-based technologies. Densely packed retail shelves pose unique challenges for robotic manipulation and detection due to limited space and diverse object shapes. Vacuum-based grasping technologies offer a promising solution but face challenges with object shape adaptability. The study proposes a framework for robotic grasping in retail environments, an adaptive vacuum-based grasping solution, and a new evaluation metric—termed grasp shear force resilience—for measuring the effectiveness and stability of the grasp during manipulation. The metric provides insights into how retail objects behave under different manipulation scenarios, allowing for better assessment and optimization of robotic grasping performance. The study's findings demonstrate the adaptive suction cups' ability to successfully handle a wide range of object shapes and sizes, which, in some cases, overcome commercially available solutions, particularly in adaptability. Additionally, the grasp shear force resilience metric highlights the effects of the manipulation process, such as in shear force and shake, on the manipulated object. This offers insights into its interaction with different vacuum cup grasping solutions in retail picking and restocking scenarios. [ABSTRACT FROM AUTHOR]

Asparagus harvesting presents unique challenges, due to the variability in spear growth, which makes large-scale automated harvesting difficult. This paper describes the development of an asparagus harvesting robot system. The system consists of a delta robot mounted on a mobile track-based platform. It employs a real-time asparagus detection algorithm and a sensory system to determine optimal harvesting points. Low-level control and high-level control are separated in the robot control. The performance of the system was evaluated in a laboratory field mock-up and in the open field, using asparagus spears of various shapes. The results demonstrate that the system detected and harvested 88% of the ready-to-harvest spears, with an average harvesting cycle cost of 3.44 s ± 0.14 s . In addition, outdoor testing in an open field demonstrated a 77% success rate in identifying and harvesting asparagus spears. [ABSTRACT FROM AUTHOR]

This article investigates the effect of additional calibration modules (CMs) in a 3-D real-time localization system during the calibration of the anchor position. A quick calibration is desirable for new anchors that are positionally undetermined in the working coordinate system. Three localization methods were tested for the anchor calibration: multidimensional scaling, semidefinite programming, and iterative trilateration. First, the accuracy of the anchor localization was studied by simulating a change in the number of additional CMs and their positions. Second, tests on a real system with ultrawideband modules were performed to validate the improvements in the anchor calibration when using the additional CMs. The experimental results revealed an improvement in the anchor localization for all three methods, where the average positional error was improved by 0.01 m in the first scenario and 0.30 m in the second scenario. The MDS method had the best absolute performance, with an average positional error that was as much as two times less in comparison with the other two methods. This investigation demonstrates that the positional error can be successfully reduced by using additional CMs. The calibration of anchor positions in the working coordinate system using additional CMs resulted in a 3-D error of less than 0.32 m. [ABSTRACT FROM AUTHOR]

Doktorská tema sega na podrocje robotsko podprte motoricne rehabilitacije bolnikov z motnjami gibanja zgornjih okoncin. To je podrocje, ki temelji na dveh desetletjih intenzivnega razvoja. Doktorska tema se najprej poglobi na podrocje nemotecega merjenja fiziološkega odziva človeka, ki bi ga lahko pozneje skupaj z drugimi parametri uporabili v vecmodalni aplikaciji, za zaprtozancno prilagajanje tezavnosti rehabilitacijske naloge. Opisane so metode in nacin validacije predlaganega nizkocenovnega merilnega sistema, ki bi zadošcal uporabi za namene robotske rehabilitacije. Za varno interakcijo robota in cloveka med robotsko vadbo je treba zagotoviti varnost kontakta med obema, zato se tema osredini na vodenje in razvoj nizkocenovnega linearnega hapticnega mehanizma, ki vsebuje sistem nelinearnih vzmeti za prilagajanje mehanske togosti. Skupaj z nalogo v virtualnem okolju lahko s pomocjo omenjenih sistemov nacrtamo vecmodalno rehabilitacijsko vadbo, ki bi lahko bila zaradi cenovne dostopnosti in varnosti primerna tudi v domacem okolju. [ABSTRACT FROM AUTHOR]

A mechanical thermostat is a device that switches heating or cooling appliances on or off based on temperature. For this kind of use, electronic or mechanical switching concepts are applied. During the production of electrical contacts, several irregularities can occur leading to improper switching events of the thermostat electrical contacts. This paper presents a non-obstructive method based on the fact that when the switching event occurs it can be heard and felt by human senses. We performed several laboratory tests with two different methods. The first method includes thermostat switch sound signal analysis during the switching event. The second method is based on sampling of the accelerometer signal during the switching event. The results show that the sound analysis approach has great potential. The approach enables an accurate determination of the switching event even if the sampled signal carries also the switching event of the neighbour thermostat. [ABSTRACT FROM AUTHOR]

The article is describing the use of visual touch-up calibration method for defining the mathematical transformations used in a shopfloor measurement and welding robot cell in the protector assembly process. The presented system is designed as a robust and cheap solution, using only the equipment needed for the production tasks in the robot cell. The main goal of the presented system is to use vision measurement system for measuring and calibration procedures and laser welding equipment to weld two protector assembly parts together where positioning tolerances are very narrow. These narrow tolerances forced us to implement auto-checking and auto-calibration procedures for all necessary mathematical aspects in the robot cell, based on the robust visual touch-up method. To demonstrate adequate solution in the measurement, calibration and also the production sequences, the graphs show production statistical results over a one year production period. [ABSTRACT FROM AUTHOR]

This study uses inertial sensors to measure ski jumper kinematics and joint dynamics, which was until now only a part of simulation studies. For subsequent calculation of dynamics in the joints, a link-segment model was developed. The model relies on the recursive Newton-Euler inverse dynamics. This approach allowed the calculation of the ground reaction force at take-off. For the model validation, four ski jumpers from the National Nordic center performed a simulated jump in a laboratory environment on a force platform; in total, 20 jumps were recorded. The results fit well to the reference system, presenting small errors in the mean and standard deviation and small root-mean-square errors. The error is under 12% of the reference value. For field tests, six jumpers participated in the study; in total, 28 jumps were recorded. All of the measured forces and moments were within the range of prior simulated studies. The proposed system was able to indirectly provide the values of forces and moments in the joints of the ski-jumpers' body segments, as well as the ground reaction force during the in-run and take-off phases in comparison to the force platform installed on the table. Kinematics assessment and estimation of dynamics parameters can be applied to jumps from any ski jumping hill. [ABSTRACT FROM AUTHOR]

Abstract: A diagnostic platform for the early functional assessment of post-stroke patients was designed in order to perform isometric measurements during activities of daily living (ADL) tasks. The outcome of these measurements can contribute to verify the integrity of a post-stroke existing or altered “internal model” for a particular functional task. A complete and reliable software application for the diagnostic platform was designed, developed and tested in three European hospitals. The software application was divided into two main modules: a graphical user interface (GUI) and the data pre-processing techniques for the interpretation of recorded biomedical and clinical data. This paper presents the software application associated to the platform, aimed at analysing and interpreting the huge amount of data recorded and collected during the experimental trials. Its main objective is related to validating the onset detection and data reduction. The software application presented in this paper has been working and validated with success in three different clinical centres in Europe and it can be effectively used both as assessment tool in rehabilitation and as research tool in neuroscience. [Copyright &y& Elsevier]

Patients after stroke need to re-learn functional movements required for independent living throughout the rehabilitation process. In the study, we used a wearable sensory system for monitoring the movement of the upper limbs while performing activities of daily living. We implemented time-based and path-based segmentation of movement trajectories and muscle activity to quantify the activities of the unaffected and the affected upper limbs. While time-based segmentation splits the trajectory in quants of equal duration, path-based segmentation isolates completed movements. We analyzed the hand movement path and forearm muscle activity and introduced a bimanual movement parameter, which enables differentiation between unimanual and bimanual activities. The approach was validated in a study that included a healthy subject and seven patients after stroke with different levels of disabilities. Path-based segmentation provides a more detailed and comprehensive evaluation of upper limb activities, while time-based segmentation is more suitable for real-time assessment and providing feedback to patients. Bimanual movement parameter effectively differentiates between different levels of upper limb involvement and is a clear indicator of the activity of the affected limb relative to the unaffected limb. [ABSTRACT FROM AUTHOR]

The paper presents the background, main achievements and components of rehabilitation robotics in a simple way, using non-technical terms. The introductory part looks at the development of robotic approaches in the rehabilitation of neurological patients and outlines the principles of robotic device interactions with patients. There follows a section on virtual reality in rehabilitation. Hapticity and interaction between robot and human are presented in order to understand the added value of robotics that cannot be exploited in other devices. The importance of passive exercise and active tasks is then discussed using the results of various clinical trials, followed by the place of upper and lower extremity robotic devices in rehabilitation practice. The closing section refers to the general importance of measurements in this area and stresses quantitative measurements as one of the advantages in using robotic devices. [ABSTRACT FROM AUTHOR]

The historical development of electrical stimulators producing contraction of paralyzed muscles is briefly presented. The influence of electrical stimulation parameters (amplitude of pulses, frequency, pulse duration, and duration of a pulse train) is explained. Special attention is paid to the description of the muscle recruitment curve. The phenomenon of reversed recruitment order, resulting in fatiguing of electrically stimulated muscle, is presented. The properties of surface electrodes (electrode size, polarity, resistance, and distance between electrodes) are examined. The use of surface electrodes made of metal plate or wire mesh, silicone impregnated with rubber, and conductive adhesive gel are discussed. The design of electrical stimulator circuits is also presented. [ABSTRACT FROM AUTHOR]

This paper presents the development and testing of a haptic interface compatible with a functional magnetic resonance imaging (fMRI) environment for neuroscience human motor control studies. A carbon fiber extension enables us to use the widely accepted and available haptic device Phantom 1.5. In the first part of the paper development of the mechanical extension together with its kinematic and dynamic models are presented. The second part is focused on testing of the extended haptic interface. The experiment's results both inside and outside the fMRI environment are presented. Tests outside a scanner have shown that the mechanical extension has no notable effect on a subject performance. Experiments with the scanner have confirmed electromagnetic compatibility of the extended haptic system. At the end it is concluded that the extended haptic device is fully compatible with the fMRI environment, and a virtual environment task that will allow neuroscientists to study a human motor control is proposed. [ABSTRACT FROM AUTHOR]

The article reports on the contact instability of admittance control of a haptic interface. A grasp force-measuring handle was designed to evaluate the influence of the human operator on the stability of the haptic interaction. The authors examined model stability with root-locus analysis. Experiments on an actual haptic interface were performed to verify the effects of contact instability. The experiment results showed that stability is highly dependent upon the stiffness of the human operator grasp.

A novel approach for evaluation of a grasp in humans is presented. The key novelty is combination of a haptic interface with force/torque transducers for measuring the grasp force. This paper presents results of grasp and load force coordination for quasi-static and dynamic external load force disturbances for a power grasp. An elevation of the grasp force is observed in a dynamic task. Elevation of the grasp force is needed for an additional safety margin to ensure a stable grasp. [ABSTRACT FROM AUTHOR]

Abstract: Objective: To show that it is possible to determine segment masses and segment centers of mass by measuring manipulator-hand contact forces and joint angles during upper extremity movement. Background: The method serves as a quick subject specific body segment parameter evaluation technique. Clinically we see this method as an alternative upper extremity body segment parameter evaluation study especially useful in rehabilitation treatment activities. Methods: The experiment is based on coupling the human arm with a robotic manipulator which is then used for imposing a specified sagittal plane trajectory. Joint angles and forces in the contact point serve as input to the identification procedure. For verification purposes the proposed identification procedure was first performed on a mechanical arm. Afterwards a low velocity trajectory was imposed into all joints of the human upper extremity, with very small angular deviations. Within this small angular region the arm was assumed to be represented as a linear system. Findings: The outcome of the identification procedure is an estimate of masses and center of mass coordinates for the lower arm and palm segments, their products for the upper arm and the passive moments around the measured angle of all joints in the sagittal plane. The results obtained for three particular human arms are eventually compared to the average population based literature. Conclusion: From the clinical point of view the study can become useful for biomechanical evaluation and for evaluating biomechanical properties of lower extremities or other body segments. This method may also provide a foundation to measuring body segment moments of inertia and joint viscoelastic parameters. [Copyright &y& Elsevier]

In the past, limited unsupported standing has been restored in patients with thoracic spinal cord injury through open-loop functional electrical stimulation of paralyzed knee extensor muscles and the support of intact arm musculature. Here an optimal control system for paralyzed ankle muscles was designed that enables the subject to stand without hand support in a sagittal plane. The paraplegic subject was conceptualized as an underactuated double inverted pendulum structure with an active degree of freedom in the upper trunk and a passive degree of freedom in the paralyzed ankle joints. Control system design is based on the minimization of a cost function that estimates the effort of ankle joint muscles via observation of the ground reaction force position, relative to ankle joint axis. Furthermore, such a control system integrates voluntary upper trunk activity and artificial control of ankle joint muscles, resulting in a robust standing posture. Figures are shown for the initial simulation study, followed by disturbance tests on an intact volunteer and several laboratory trials with a paraplegic person. Benefits of the presented methodology are prolonged standing sessions and in the fact that the subject is able to maintain voluntary control over upper body orientation in space, enabling simple functional standing. [ABSTRACT FROM AUTHOR]

The goal of this study was to quantify shoulder, elbow and wrist dynamic and static torques in the elbow flexion-extension movements. The movements were supervised and produced by using an industrial robot manipulator that was capable of imposing a programmed arc trajectory at various manipulator that was capable of imposing a programmed arc trajectory at various velocities in the sagittal plane of the seated human subject. The muscles of the right arm being measured, were kept passive at all times of the experiment, to allow smooth guidance of the arm along a desired path.These programmed trajectories allowed a very good motion repeatability, which is not possible in normal unconstrained movements. All four velocity and acceleration profiles were taken into account and applied to matrices describing the different dynamic components in the upper extremity motion. A range of velocities which correspond to everyday movements was tested.The results reveal that the gravitational torque contributions have a prominent effect on the arm dynamics at low elbow velocities (&qdot;≈0.25 rad/s). At these speeds the velocity and acceleration dependent terms can justifiably be discarded. However, at higher motion velocities (&qdot;≈1 rad/s) the inertial and Coriolis-centrifugal contributions become non-negligible. Their effect is furthermore increased with speed and accompanied accelerations. [Copyright &y& Elsevier]

The goal of this study was an assessment of the shoulder and elbow joint passive moments in the sagittal plane for six healthy individuals. Either the shoulder or elbow joints were moved at a constant speed, very slowly throughout a large portion of their range by means of an industrial robot. During the whole process the arm was held fully passively, while the end point force data and the shoulder, elbow and wrist angle data were collected. The presented method unequivocally reveals a large passive moment adjacent angle dependency in the central angular range, where most everyday actions are performed. It is expected to prove useful in the future work when examining subjects with neuromuscular disorders. Their passive moments may show a fully different pattern than the ones obtained in this study. [ABSTRACT FROM AUTHOR]

Prolonged immobilization, such as occurs after the spinal cord injury (SCI), results in several physiological problems. It has been demonstrated that the standing posture can ameliorate many of these problems. Standing exercise can be efficiently performed by the help of functional electrical stimulation (FES). The first application of FES to a paraplegic patient was reported by Kantrowitz in 1963. It was later shown by our group that standing for therapeutic purposes can be achieved by a minimum of two channels of FES delivered to both knee extensors. The properties of the stimulated knee extensors (maximal isometric joint torque, fatiguing, and spasticity) were not found as sufficient conditions for efficient standing exercise. According to our studies, the ankle joint torque during standing is the only parameter which is well correlated to the duration of FES assisted standing. For good standing low values of the ankle joint torque are required. To minimize the ankle joint torque the lever belonging to the vertical reaction force must be decreased. Adequate alignment of the posture appears to be the prerequisite for efficient FES assisted and arm supported standing exercise. Some patients are able to assume such posture by themselves, while many must be aided by additional measures. At present, surface stimulation of knee extensors combined with some appropriately "compliant shoes" looks to be adequate choice. [ABSTRACT FROM AUTHOR]

Focuses on the restoration of the functional use of paralyzed muscles by automatically controlled stimulation, investigating the use of the Hammerstein model. Description of research methods utilized; Examination of experimental procedures; Analysis of statistical data compiled in this research.

This study focuses on the feasibility of collaborative robot implementation in a medical microbiology laboratory by demonstrating fine tasks using kinesthetic teaching. Fine tasks require sub-millimetre positioning accuracy. Bacterial colony picking and identification was used as a case study. Colonies were picked from Petri dishes and identified using matrix-assisted laser desorption/ionization (MALDI) time-of-flight (TOF) mass spectrometry. We picked and identified 56 colonies (36 colonies of Gram-negative Acinetobacter baumannii and 20 colonies of Gram-positive Staphylococcus epidermidis). The overall identification error rate was around 11%, although it was significantly lower for Gram-positive bacteria (5%) than Gram-negative bacteria (13.9%). Based on the identification scores, it was concluded that the system works similarly well as a manual operator. It was determined that tasks were successfully demonstrated using kinesthetic teaching and generalized using dynamic movement primitives (DMP). Further improvement of the identification error rate is possible by choosing a different deposited sample treatment method (e.g., semi-extraction, wet deposition). [ABSTRACT FROM AUTHOR]

This paper presents a sensory fusion method for estimation of joint angles of serial kinematic chains with rotational degrees of freedom based on magnetoinertial measurements—Magnetoinertial tracking based on JAcobian PseudoInverse (MIJAPI). The concept takes into account the mechanism kinematic model, and the computation relies on the differential kinematics inversion (inverse kinematics solution based on the Jacobian inverse). A Moore–Penrose weighted left pseudoinverse of the mechanism Jacobian matrix is applied to solve a (typically) overdetermined system (redundant measurements resulting from constraints related to attachments of magnetoinertial sensors) in a least-squares approach. Calculation of a gain matrix for correcting the estimated angles is based on Kalman-adaptive algorithm. The quality of the proposed approach was compared to different solutions based on the Unscented Kalman filter. In terms of computational complexity, the MIJAPI concept outperforms the Kalman-based approaches. Better results were also noticed in conditions with significant measurement disturbances and sensor misalignments. The method is applicable in the fields of human motion tracking/analysis as well as robotics. [ABSTRACT FROM AUTHOR]

Inexpensive inertial/magnetic measurement units can be found in numerous applications and are typically used to determine orientation. Due to the presence of nonidealities in measurement systems, the calibration of the sensor is thus needed to determine sensor parameters such as bias, misalignment, and gain/sensitivity. In this paper, an online automatic calibration method for a three-axial accelerometer is presented. Parameters are estimated using an unscented Kalman filter. The sensor is placed in a number of different orientations using a robotic arm. These orientations are calculated online from the parameter covariance matrix and represent estimated optimal sensor orientations for parameter estimation. Numerous simulations are run to evaluate the proposed calibration method, and a comparison is made with an offline least mean squares calibration method. The simulation results show that calibration with the proposed method results in higher accuracy of parameter estimation when using less than 100 iterations. The proposed calibration method is also applied to a real accelerometer using a low number of iterations. The results show only slight (less than 0.4%) changes in parameter values between different calibration runs. The proposed calibration method provides an accurate parameter estimation using a small number of iterations without the need for manually predefining orientations of the sensor, and the method can be used in combination with other offline calibration methods to achieve even higher accuracy. [ABSTRACT FROM PUBLISHER]

Abstract: Physiological computing represents a mode of human–computer interaction where the computer monitors, analyzes and responds to the user’s psychophysiological activity in real-time. Within the field, autonomic nervous system responses have been studied extensively since they can be measured quickly and unobtrusively. However, despite a vast body of literature available on the subject, there is still no universally accepted set of rules that would translate physiological data to psychological states. This paper surveys the work performed on data fusion and system adaptation using autonomic nervous system responses in psychophysiology and physiological computing during the last ten years. First, five prerequisites for data fusion are examined: psychological model selection, training set preparation, feature extraction, normalization and dimension reduction. Then, different methods for either classification or estimation of psychological states from the extracted features are presented and compared. Finally, implementations of system adaptation are reviewed: changing the system that the user is interacting with in response to cognitive or affective information inferred from autonomic nervous system responses. The paper is aimed primarily at psychologists and computer scientists who have already recorded autonomic nervous system responses and now need to create algorithms to determine the subject’s psychological state. [Copyright &y& Elsevier]

Background: Humans are capable of fast adaptation to new unknown dynamics that affect their movements. Such motor learning is also believed to be an important part of motor rehabilitation. Bimanual training can improve post-stroke rehabilitation outcome and is associated with interlimb coordination between both limbs. Some studies indicate partial transfer of skills among limbs of healthy individuals. Another aspect of bimanual training is the (a)symmetry of bimanual movements and how these affect motor learning and possibly post-stroke rehabilitation. Methods: A novel bimanual 2-DOF robotic system was used for both bimanual and unimanual reaching movements. 35 young healthy adults participated in the study. They were divided into 5 test groups that performed movements under different conditions (bimanual or unimanual movements and symmetric or asymmetric bimanual arm loads). The subjects performed a simple tracking exercise with the bimanual system. The exercise was developed to stimulate motor learning by applying a velocity-dependent disturbance torque to the handlebar. Each subject performed 255 trials divided into three phases: baseline without disturbance torque, training phase with disturbance torque and evaluation phase with disturbance torque. Results: Performance was assessed with the maximal values of rotation errors of the handlebar. After exposure to disturbance torque, the errors decreased for both unimanual and bimanual training. Errors in unimanual evaluation following the bimanual training phase were not significantly different from errors in unimanual evaluation following unimanual training. There was no difference in performance following symmetric or asymmetric training. Changing the arm force symmetry during bimanual movements from asymmetric to symmetric had little influence on performance. Conclusions: Subjects could adapt to an unknown disturbance torque that was changing the dynamics of the movements. The learning effect was present during both unimanual and bimanual training. Transfer of learned skills from bimanual training to unimanual movements was also observed, as bimanual training also improved single limb performance with the dominant arm. Changes of force symmetry did not have an effect on motor learning. As motor learning is believed to be an important mechanism of rehabilitation, our findings could be tested for future post-stroke rehabilitation systems. [ABSTRACT FROM AUTHOR]

Abstract: This paper presents the development and evaluation of the measurement setup for a real-time biomechanical analysis of rowing on an ergometer. The setup consists of a measurement system and a system for data processing. The measurement system consists of a Concept2 rowing ergometer instrumented by force sensors, incremental encoders and an optical system for measuring the kinematics. The measurement data is used as an input to a dynamic model which calculates the rower’s body joint loadings. Real-time data processing and analysis provide real-time feedback on rowing performance and technique to the user. For the evaluation of assessment methodology, five top-level rowers and five non-experts newly introduced to rowing participated in an evaluation experiment. The noticeable distinctions between the measured parameters in the experts and non-experts were measured. The results show that this measurement setup can be successfully used for detailed characterization of rowing technique. [Copyright &y& Elsevier]

Psychophysiological measurements, which serve as objective indicators of psychological state, have recently been introduced into human–robot interaction. However, their usefulness in haptic interaction is uncertain, since they are influenced by physical workload. This study analyses psychophysiological responses to a haptic task with three different difficulty levels and two different levels of physical load. Four physiological responses were recorded: heart rate, skin conductance, respiratory rate and skin temperature. Results show that mean respiratory rate, respiratory rate variability and skin temperature show significant differences between difficulty levels regardless of physical load and can be used to estimate cognitive workload in haptic interaction. [ABSTRACT FROM AUTHOR]

This paper presents an upgrade of a Phantom Premium 1.5 haptic device for use within a functional magnetic resonance imaging (fMRI) environment. A special mechanical extension that allows the haptic device to operate at a safe distance from the high-density magnetic field of an fMRI scanner has been developed. Extended haptic system was subjected to a series of tests to confirm electromagnetic compatibility with the fMRI scanner, for which key results are presented. With this fMRI compatible haptic platform a human brain activation during controlled upper limb movements can be studied. A simple virtual environment reaching task was programmed to study brain motor control functions. At the end preliminary results of an ongoing neurophysiological study are presented. [ABSTRACT FROM AUTHOR]

Background: One of the main scientific and technological challenges of rehabilitation bioengineering is the development of innovative methodologies, based on the use of appropriate technological devices, for an objective assessment of patients undergoing a rehabilitation treatment. Such tools should be as fast and cheap to use as clinical scales, which are currently the daily instruments most widely used in the routine clinical practice.Methods: A human-centered approach was used in the design and development of a mechanical structure equipped with eight force/torque sensors that record quantitative data during the initiation of a predefined set of Activities of Daily Living (ADL) tasks, in isometric conditions.Results: Preliminary results validated the appropriateness, acceptability and functionality of the proposed platform, that has become now a tool used for clinical research in three clinical centres.Conclusion: This paper presented the design and development of an innovative platform for whole-body force and torque measurements on human subjects. The platform has been designed to perform accurate quantitative measurements in isometric conditions with the specific aim to address the needs for functional assessment tests of patients undergoing a rehabilitation treatment as a consequence of a stroke.The versatility of the system also enlightens several other interesting possible areas of application for therapy in neurorehabilitation, for research in basic neuroscience, and more. [ABSTRACT FROM AUTHOR]

Abstract: The paper presents the design and validation of a three-segment human body model. The model is aimed at the reconstruction of motion trajectories of the shank, thigh and HAT (Head-Arms-Trunk) segments in sit-to-stand-motion using low cost inertial sensors. For this purpose the Extended Kalman filter is applied for fusion of model data and data acquired through measurements. The simplifications, like motion constraint to sagittal plane, symmetry of movement and assumption of ideal joints are introduced in the model. Model validation was performed on simulated data and on measurements data acquired with the Optotrak optical motion analysis system. Obtained results are presented and discussed. [Copyright &y& Elsevier]

Abstract: This study proposed virtual reality (VR) as a modality of lower-extremities training. A kinematic model of a human body and a corresponding virtual figure were developed, in order to visualize the movements of the subject in a real-time virtual environment on a large display, which represented a virtual mirror. An optical system with active markers was used to assess the movements of a training subject. A preliminary investigation was conducted with a group of healthy male subjects, who performed the stepping-in-place test by tracking the movements of the reference virtual figure, which represented a virtual instructor. Both figures were shown in the virtual mirror at the same time from the desired angle of view. Four stepping tasks featuring different cadences and hip angles were performed, with difficulty levels ranging from easy to demanding. The results obtained included basic kinematic and temporal parameters, which provided quantitative measures of a subject''s adaptation to the virtual training environment, and thereby justifying the feasibility of the virtual mirror as a useful system in lower-extremities training applications. [Copyright &y& Elsevier]

Abstract: A system for accurate real-time measurement of deflections was developed. A stable laser source is, by means of a single-mode fiber, coupled to an optical head located at one end of deformed structure. A detector circuit with a quadrant detector and processing electronics, located at the other end of the structure, communicates the resolved 2D position of the incident beam over a common digital bus. Experiments using interferometers were conducted in a climate-controlled chamber to evaluate system performance and verify the accuracy. A resolution of 0.1  m is attainable in dynamic measurements. The system was calibrated and tested to yield measurement accuracy of 0.8  m for 2 probability over the measurement range of 300  m. Drift of the system in the experimental setup was determined to be less than 2  m for measurement in both degrees of freedom within the 10 h period under constant environmental conditions. [Copyright &y& Elsevier]

In this article we present a new isometric input device for multi-fingered grasping in virtual environments. The device was designed to simultaneously assess forces applied by the thumb, index, and middle finger. A mathematical model of grasping, adopted from the analysis of multi-fingered robot hands, was applied to achieve multi-fingered interaction with virtual objects. We used the concept of visual haptic feedback where the user was presented with visual cues to acquire haptic information from the virtual environment. The virtual object corresponded dynamically to the forces and torques applied by the three fingers. The application of the isometric finger device for multi-fingered interaction is demonstrated in four tasks aimed at the rehabilitation of hand function in stroke patients. The tasks include opening the combination lock on a safe, filling and pouring water from a glass, muscle strength training with an elastic torus, and a force tracking task. The training tasks were designed to train patients' grip force coordination and increase muscle strength through repetitive exercises. The presented virtual reality system was evaluated in a group of healthy subjects and two post-stroke patients (early post-stroke and chronic) to obtain overall performance results. The healthy subjects demonstrated consistent performance with the finger device after the first few trials. The two post-stroke patients completed all four tasks, however, with much lower performance scores as compared to healthy subjects. The results of the preliminary assessment suggest that the patients could further improve their performance through virtual reality training. [ABSTRACT FROM AUTHOR]

An ultra-wideband (UWB) localization system is an alternative in a GPS-denied environment. However, a distance measurement with UWB modules using a two-way communication protocol induces an orientation-dependent error. Previous research studied this error by looking at parameters such as the received power and the channel response signal. In this paper, the neural network (NN) method for correcting the orientation-induced distance error without the need to calculate the signal strength, obtain the channel response or know any parameters of the antenna and the UWB modules is presented. The NN method utilizes only the measured distance and the tag orientation, and implements an NN model obtained by machine learning, using measurements at different distances and orientations of the two UWB modules. The verification of the experimental setup with 12 anchors and a tag shows that with the proposed NN method, 5 cm better root mean square error values (RMSEs) are obtained for the measured distance between the anchors and the tag compared to the calibration method that did not include orientation information. With the least-square estimator, 14 cm RMSE in 3D is obtained with the NN model corrected distances, with a 9 cm improvement compared to when raw distances are used. The method produces better results without the need to obtain the UWB module's diagnostics parameters that are required to calculate the received signal strength or channel response, and in this way maintain the minimum packet size for the ranging protocol. [ABSTRACT FROM AUTHOR]

Infant posture and motor pattern development are normally analyzed by clinical assessment scales. Lately, this approach is combined with the use of sensor-supported systems, such as optical, inertial, and electromagnetic measurement systems, as well as novel assessment devices, such as CareToy. CareToy is a modular device for assessment and rehabilitation of preterm infants, comprising pressure mattresses, inertial and magnetic measurement units, and sensorized toys. Since such integrated sensor system combination is new to the field of sensor-supported infant behavior assessment and rehabilitation, dedicated methods for data analysis were developed and presented. These comprise trunk rotation, arm movement, forearm orientation, and head movement analysis, along with toy play and trunk posture stability evaluation. Methods were tested on case study data, evaluating suitability of developed algorithms for infant posture and activity analysis, regardless of behavioral responses. Obtained results demonstrate suitability of the proposed methods for successful use in studies of different motor pattern subfields. This represents an important step on the course towards objective, accurate, sensor-supported infant motor development assessment. Graphical abstract Posture and movement assessment of infants using analysis of sensory data, obtained with a dedicated sensorized gym with toys. [ABSTRACT FROM AUTHOR]

In patients after stroke, ability of the upper limb is commonly assessed with standardised clinical tests that provide a complete upper limb assessment. This paper presents quantification of upper limb movement during the execution of Action research arm test (ARAT) using a wearable system of inertial measurement units (IMU) for kinematic quantification and electromyography (EMG) sensors for muscle activity analysis. The test was executed with each arm by a group of healthy subjects and a group of patients after stroke allocated into subgroups based on their clinical scores. Tasks were segmented into movement and manipulation phases. Each movement phase was quantified with a set of five parameters: movement time, movement smoothness, hand trajectory similarity, trunk stability, and muscle activity for grasping. Parameters vary between subject groups, between tasks, and between task phases. Statistically significant differences were observed between patient groups that obtained different clinical scores, between healthy subjects and patients, and between the unaffected and the affected arm unless the affected arm shows normal performance. Movement quantification enables differentiation between different subject groups within movement phases as well as for the complete task. Spearman's rank correlation coefficient shows strong correlations between patient's ARAT scores and movement time as well as movement smoothness. Weak to moderate correlations were observed for parameters that describe hand trajectory similarity and trunk stability. Muscle activity correlates well with grasping activity and the level of grasping force in all groups. [ABSTRACT FROM AUTHOR]

Head movement of infants is an important parameter for analysing infant motor patterns. Despite its importance, this field has received little sensory-based research in the past years. Therefore, we present a sensory-supported data fusion model for head movement analysis of infants in supine position. The sensory system comprises a pressure mattress and two wireless inertial magnetic measurement units, rendering precise, objective and non-intrusive information on pressure distribution and 3D trunk orientation, respectively. Algorithms first perform pressure data pre-processing and calculate image moments to acquire 2D trunk orientation. Afterwards, unscented Kalman filter is used for sensory data fusion. After additional data processing, head and trunk coordinates are calculated along with head displacement distance. The sensory system was tested on experimental measurements, performed in eight normally developing infants aged from 1 to 5 months. Results of several algorithm combinations were compared to referential video recordings in terms of head lifts. Combination of algorithms, incorporating head tracking and sensory data fusion provides completely accurate results in comparison to normative data. Statistical data analysis and referential optoelectronic measurements were performed to evaluate accuracy of the sensory fusion model. Suitability of the proposed sensory system for head movement analysis of infants in supine position was verified. [ABSTRACT FROM AUTHOR]

Previous studies have presented algorithms for detection of turns during gait using wearable sensors, but those algorithms were not built for real-time use. This paper therefore investigates the optimal approach for real-time detection of planned turns during gait using wearable inertial measurement units. Several different sensor positions (head, back and legs) and three different detection criteria (orientation, angular velocity and both) are compared with regard to their ability to correctly detect turn onset. Furthermore, the different sensor positions are compared with regard to their ability to predict the turn direction and amplitude. The evaluation was performed on ten healthy subjects who performed left/right turns at three amplitudes (22, 45 and 90 degrees). Results showed that turn onset can be most accurately detected with sensors on the back and using a combination of orientation and angular velocity. The same setup also gives the best prediction of turn direction and amplitude. Preliminary measurements with a single amputee were also performed and highlighted important differences such as slower turning that need to be taken into account. [ABSTRACT FROM AUTHOR]

The body parts detection based on the skin colour recognition is part of numerous applications, such as surveillance systems and human-computer interaction. Since such applications mostly focus on adults and those concerning children and infants are scarce, a computer program to analyse the infants' video recordings was developed. The paper presents implementation of the methodology, focusing on the RGB and YCbCr colour filters for skin detection, and the applied algorithms for body parts recognition (head and both hands). The method to track the body parts is presented as well. The program also incorporates methods for masking and adaptive adjustment of the colour filters to diminish effects of external lighting. A combination of the used algorithms and filters is tested on video recordings of two infants. The results reveal certain drawbacks of individual algorithms and confirm the accuracy and suitability of the proposed combination for the skin colour recognition and body parts identification in videos of infants. [ABSTRACT FROM AUTHOR]

The inertial/magnetic measurement units are an affordable instrument for the determination of orientation. The sensors embedded in the system are affected by nonidealities that can be greatly compensated by proper calibration, by determining sensor parameters, such as bias, misalignment, and sensitivity/gain. This paper presents an online calibration method for a three-axial magnetometer using a 3-D Helmholtz coil. The magnetometer is exposed to different directions of the magnetic field created by the 3-D coil. The parameters are estimated by using an unscented Kalman filter. The directions are calculated online by using a sensor parameter covariance matrix. The method evaluation is achieved by first running numerous simulations, followed by experiments using a real magnetometer, finally resulting in better accuracy of parameter estimation with a low number of measurement iterations compared with the method where magnetic field directions are determined manually. [ABSTRACT FROM PUBLISHER]

This paper presents a gait phase detection algorithm for providing feedback in walking with a robotic prosthesis. The algorithm utilizes the output signals of a wearable wireless sensory system incorporating sensorized shoe insoles and inertial measurement units attached to body segments. The principle of detecting transitions between gait phases is based on heuristic threshold rules, dividing a steady-state walking stride into four phases. For the evaluation of the algorithm, experiments with three amputees, walking with the robotic prosthesis and wearable sensors, were performed. Results show a high rate of successful detection for all four phases (the average success rate across all subjects >90%). A comparison of the proposed method to an off-line trained algorithm using hidden Markov models reveals a similar performance achieved without the need for learning dataset acquisition and previous model training. [ABSTRACT FROM AUTHOR]

Abstract: This paper presents algorithms for detection of gait initiation and termination using wearable inertial measurement units and pressure-sensitive insoles. Body joint angles, joint angular velocities, ground reaction force and center of plantar pressure of each foot are obtained from these sensors and input into supervised machine learning algorithms. The proposed initiation detection method recognizes two events: gait onset (an anticipatory movement preceding foot lifting) and toe-off. The termination detection algorithm segments gait into steps, measures the signals over a buffer at the beginning of each step, and determines whether this measurement belongs to the final step. The approach is validated with 10 subjects at two gait speeds, using within-subject and subject-independent cross-validation. Results show that gait initiation can be detected timely and accurately, with few errors in the case of within-subject cross-validation and overall good performance in subject-independent cross-validation. Gait termination can be predicted in over 80% of trials well before the subject comes to a complete stop. Results also show that the two sensor types are equivalent in predicting gait initiation while inertial measurement units are generally superior in predicting gait termination. Potential use of the algorithms is foreseen primarily with assistive devices such as prostheses and exoskeletons. [Copyright &y& Elsevier]

Current experimental methods for the study of reaching in the MRI environment do not exactly mimic actual reaching, due to constrains in movement which are imposed by the MRI machine itself. We tested a haptic robot (HR) as such a tool. Positive results would also be promising for combined use of fMRI and EEG to study reaching. Twenty right-handed subjects performed reaching tasks with their right hand with and without the HR. Reaction time, movement time (MT), accuracy, event-related potentials (ERPs) and event-related desynchronisation/synchronisation (ERD/ERS) were studied. Reaction times and accuracies did not differ significantly between the two tasks, while the MT was significantly longer in HR reaching (959 vs. 447 ms). We identified two positive and two negative ERP peaks across all leads in both tasks. The latencies of the P1 and N2 peaks were significantly longer in HR reaching, while there were no significant differences in the P3 and N4 latencies. ERD/ERS topographies were similar between tasks and similar to other reaching studies. Main difference was in ERS rebound which was observed only in actual reaching. Probable reason was significantly larger MT. We found that reaching with the HR engages similar neural structures as in actual reaching. Although there are some constrains, its use may be superior to other techniques used for reaching studies in the MRI environment, where freedom of movement is limited. [ABSTRACT FROM AUTHOR]

Abstract: This paper presents an analysis of the rowing parameters of differently skilled rowers. The study focuses on technique dependency on stroke rate. Five elite, five junior and five non-rowers participated, and the biomechanics of rowing on an ergometer was analyzed at stroke rates of 20, 26 and 34str/min. The results show that elite rowers use a similar, consistent rowing technique at all stroke rates, the technique of junior rowers follows similar principles, while the technique of non-rowers varies. Elite rowers’ stroke length, handle motion and body posture do not change with stroke rate while the ratio of stroke phases, maximum forces, stroke work and joint loadings are constant at the same stroke rate but dependent on stroke rate. Junior rowers with stroke rate change also the stroke length. In non-rowers the differences can be observed in the handle motion and body posture during the stroke, their stroke length changes with stroke rate while the ratio of stroke phases stays constant. Although different movement execution is evident and variable with stroke rate, non-rowers demonstrate a consistent pattern at the same stroke rate. On the basis of the results, the crucial parameters that differentiate elite, junior, and non-rowers are identified. [Copyright &y& Elsevier]

Abstract: The article describes the development and testing of a measurement and control system in industrial environment. This system enables fast and accurate membrane expansion measurements. The membrane is part of the sensor system called diastat, which is filled with a special oil. The diastat is part of mechanical capillary thermostat. To demonstrate the right selection of the measurement equipment and data processing methods, several tests and analysis were performed: the dynamic response of the diastat membrane during filling, measuring accuracy, nonlinearity and temperature stability of the measurement system with integrated distance sensor and the most important verification measurements with reference control procedures in manufacturing process. It was demonstrated that a number of novel approaches need to be introduced enabling installation of the measurement and control system in the production of the thermostat diastats. [Copyright &y& Elsevier]

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes and shapes, and to measure different pressure ranges. In this work we present the main application areas for this technology. A first generation of the system was used to monitor human-robot interaction in upper- (NEUROExos; Scuola Superiore Sant'Anna) and lower-limb (LOPES; University of Twente) exoskeletons for rehabilitation. A second generation, with increased resolution and wireless connection, was used to develop a pressure-sensitive foot insole and an improved human-robot interaction measurement systems. The experimental characterization of the latter system along with its validation on three healthy subjects is presented here for the first time. A perspective on future uses and development of the technology is finally drafted. [ABSTRACT FROM AUTHOR]

Abstract: An interactive wheeled vehicle simulator is described, consisting of a software application for simulating vehicle dynamics and presenting the results in virtual 3D environment, and a haptic interface. The latter consists of a hydraulically actuated active seat and an electrically activated active steering wheel. The system makes it possible to simulate wheeled vehicles of various configurations on arbitrary terrains. The design of the system is presented and the specific considerations are discussed. The system was experimentally verified by measurements on a real off-road vehicle. The kinematic values measured on the real vehicle and those, measured on the haptic interface were compared. The results are discussed and are generally found to correspond well, making the system usable for studying vehicle performance and training its operators. [Copyright &y& Elsevier]

This paper presents a novel multimodal virtual rehabilitation environment. Its design and implementation are based on principles related to intrinsic motivation and game design. The system consists of visual, acoustic, and haptic modalities. Elements contributing to intrinsic motivation are carefully joined in the three modalities to increase patients' motivation during the long process of rehabilitation. The message in a bottle (MIB) virtual scenario is designed to allow interplay between motor and cognitive challenges in the exercising patient. The user first needs to perform a motor action to receive a cognitive challenge that is finally solved by a second motor action. Visual feedback provides the most relevant information related to the task. Acoustic feedback consists of environmental sounds, music, and spoken instructions or encouraging statements for the patient. The haptic modality generates tactile information related to the environment and provides various modes of assistance for the patient's arm movements. The MIB scenario was evaluated with 16 stroke patients, who rated it positively using the Intrinsic Motivation Inventory questionnaire. Additionally, the MIB scenario seems to elicit higher motivation than a simpler pick-and-place training task. [ABSTRACT FROM AUTHOR]