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Purpose Laparoscopy is used in many surgical specialties. Subjective reports have suggested that performing laparoscopic surgery in patients with a high body mass index (BMI) is leading to increased prevalence of musculoskeletal symptoms in surgeons. The aim of this study was to objectively quantify the impact on surgeon upper body kinematics and dynamic workload when performing simulated laparoscopy at different BMI levels. Methods Upper body kinematics and dynamic workload of novice, intermediate and expert surgeons were calculated based on measurements from inertial measurement units positioned on upper body segments. Varying thicknesses of foam were used to simulate patient BMIs of 20, 30, 40 and 50 kg/m2 during laparoscopic training. Results Significant increases in the jerkiness, angular speed and cumulative displacement of the head, torso and upper arms were found within all experience groups when subject to the 40 and 50 kg/m2 models. Novice surgeons were found to have less controlled kinematics and larger dynamic workloads compared to the more experienced surgeons. Conclusions Our findings indicate that performing laparoscopic surgery on a high BMI model worsens upper body motion efficiency and efficacy, and increases dynamic workload, producing conditions that are more physically demanding when compared to operating on a 20 kg/m2 model. These findings also suggest that the head, torso, and upper arm segments are especially affected by high BMI models and therefore exposure to patients with high BMIs may increase the risk of musculoskeletal injury when performing laparoscopic surgery.

The use of technology has been suggested as a means of allowing continued autonomous living for older adults, while reducing the burden on caregivers and aiding decision-making relating to healthcare. However, more clarity is needed relating to the Activities of Daily Living (ADL) recognised, and the types of technology included within current monitoring approaches. This review aims to identify these differences and highlight the current gaps in these systems. A scoping review was conducted in accordance with PRISMA-ScR, drawing on PubMed, Scopus, and Google Scholar. Articles and commercially available systems were selected if they focused on ADL recognition of older adults within their home environment. Thirty-nine ADL recognition systems were identified, nine of which were commercially available. One system incorporated environmental and wearable technology, two used only wearable technology, and 34 used only environmental technologies. Overall, 14 ADL were identified but there was variation in the specific ADL recognised by each system. Although the use of technology to monitor ADL of older adults is becoming more prevalent, there is a large variation in the ADL recognised, how ADL are defined, and the types of technology used within monitoring systems. Key stakeholders, such as older adults and healthcare workers, should be consulted in future work to ensure that future developments are functional and useable.

The socio-economic and health consequences of our ageing population are well documented, with older adults living in long-term care facilities amongst the frailest possessing specific and significant healthcare and social care needs. These needs may be exacerbated through the sedentary behaviour which is prevalent within care home settings. Reducing sedentary time can reduce the risk of many diseases and improve functional health, implying that improvements in health may be gained by simply helping older adults substitute time spent sitting with time spent standing or in light-intensity ambulation. This study identified the impact of 1 year of lifestyle intervention in a group of older adults living in a long-term care setting in Italy. One hundred and eleven older adults (mean age, 82.37 years, SD = 10.55 years) participated in the study. Sixty-nine older adults were in the intervention group (35 without severe cognitive decline and 34 with dementia) and 42 older adults were in the control group. Data on physical functioning, basic activities of daily living (BADL) and mood were collected 4 times, before, during (every four months) and after the 1 year of intervention. The lifestyle intervention focused on improving the amount of time spent every week in active behaviour and physical activity (minimum 150 min of weekly activities). All participants completed the training program and no adverse events, related to the program, occurred. The intervention group showed steady and significant improvements in physical functioning and a stable situation in BADL and mood following the intervention in older adults with and without dementia, whilst the control group exhibited a significant decline over time. These results suggest that engagement in a physical activity intervention may benefit care home residents with and without dementia both physically and mentally, leading to improved social care and a reduced burden on healthcare services.

Laparoscopy is a cornerstone of modern surgical care. Despite clear advantages for the patients, it has been associated with inducing upper body musculoskeletal disorders amongst surgeons due to the propensity of non-neutral postures. Furthermore, there is a perception that patients with obesity exacerbate these factors. Therefore, novice, intermediate and expert surgeon upper body posture was objectively quantified using inertial measurement units and the LUBA ergonomic framework was used to assess the subsequent postural data during laparoscopic training on patient models that simulated BMI’s of 20, 30, 40 and 50 kg/m2. In all experience groups, the posture of the upper body significantly worsened during simulated surgery on the BMI 50 kg/m2 model as compared to on the baseline BMI model of 20 kg/m2. These findings suggest that performing laparoscopic surgery on patients with severe obesity increases the prevalence of non-neutral upper body posture and may further increase the risk of musculoskeletal disorders in surgeons.

Laparoscopy is a cornerstone of modern surgical care, with clear advantages for the patients. However, it has also been associated with inducing upper body musculoskeletal disorders amongst surgeons due to their propensity to assume non-neutral postures. Further, there is a perception that patients with high body mass indexes (BMI) exacerbate these factors. Therefore, surgeon upper body postures were objectively quantified using inertial measurement units and the LUBA ergonomic framework was used to assess posture during laparoscopic training on patient models that simulated BMIs of 20, 30, 40 and 50 kg/m2. In all surgeons the posture of the upper body significantly worsened during simulated laparoscopic surgery on the BMI 50 kg/m2 model as compared to the baseline BMI model of 20 kg/m2. These findings suggest that performing laparoscopic surgery on patients with high BMIs increases the prevalence of non-neutral posture and may further increase the risk of musculoskeletal disorders in surgeons.

This paper is closed access. This is an abstract from the Fourth International Workshop on Chemical Science and Pharmaceutical Research (CSPR2017), 17–20 October 2017, Guangzhou, China.

Work-related musculoskeletal symptoms (WMSs) are reported to be increasing in surgeons performing minimally invasive procedures. Therefore, we investigated the use of inertial measurement units (IMUs) and electromyography (EMG) sensor recorders to record real-time information on the muscle movement/activity required to perform training exercises in simulated in normal and high body mass index (BMI) models.Prospective study.University hospital.Four consultant gynecologic oncology surgeons experienced in complex straight-stick (SS) laparoscopic and robotically assisted (RA) surgery.Three exercises (hoops onto pegs and wire chase) using SS and RA surgery on 2 abdominal models: normal BMI and high BMI.We measured time to complete exercise and surgeon muscle movement/activity. The time to complete all exercises was significantly lower for RA surgery as compared with SS laparoscopy (p.05 or better). The movement of the surgeons' core was significantly greater in high BMI SS laparoscopy compared with normal BMI SS laparoscopy for exercises 1 and 2 (p.001). Muscle usage, as determined by EMG peak, was significantly higher in normal BMI SS laparoscopy and even higher in high BMI SS laparoscopy but was generally flat for all normal and high BMI RA surgery exercises (p.05 or better).Detailed real-time information can be collected through IMUs/EMG sensors. Our results indicate that RA surgery requires less surgeon movements and muscle activity to complete tasks compared with SS laparoscopy, particularly in a high BMI model. The implications of these results are that RA surgery in high BMI patients may therefore have less physical impact on the surgeon compared with SS laparoscopy and may result in lower WMS rates.

Objective: To determine the validity of the key mathematical assumptions used in electrical impedance tomography for human head tissues. Approach:Conductivity and permittivity data collected from available literature for each tissue within the human head have been evaluated and critiqued. The most relevant dielectric tissue data for each tissue was then used to assess the validity of the mathematical assumptions of electrical impedance tomography in terms of their suitability for human head imaging in order to estimate related errors. Main Results:For induced currents with frequencies greater than 200 Hz the internal current source density is negligible. The assumption that magnetic effects are negligible is valid to an error of 1.7% for human head tissues for frequencies below 1 MHz. The capacitive effects are negligible for CSF, dura mater, blood, bone (cortical), and deep tissue skin for frequencies less than 3.2 MHz, 320 kHz, 25 kHz, 3.2 kHz, and 130 Hz respectively. However, the capacitive effects are not negligible for brain tissues, as the minimum error for brain tissues across the frequency range of 10 Hz to 100 GHz is 6.2% at 800 Hz, and the maximum error is 410% at 20 GHz. Significance:It is often assumed that the mathematical reduction of the base equations is valid for human head tissues over a broad frequency range; this study shows that these assumptions are not true for all tissues at all frequencies. False assumptions will result in greater errors and local distortions within tomographic images of the human head using electrical impedance tomography. This study provides the relationships between injected current frequency and the validity of the mathematical assumptions for each individual tissue, providing greater awareness of the magnitude of possible distortions.

Objectives: The Test of Gross Motor Development-3 (TGMD-3) evaluates fundamental gross motor skills across two domains: locomotor and ball skills. This study aimed to perform a full psychometric assessment of this test in a large sample of Italian pre- and primary school children.\ud \ud Design: Cross-sectional and test-retest study design.\ud \ud Method: Children (N = 5,210; Mean age (years) = 8.38, SD = 1.97; % females = 48) completed three trials, including one practice a. Only the scores of the two latter ‘formal’ trials were recorded for the evaluation. Factorial validity and measurement invariance of TGMD-3 across age and gender groups and test-retest reliability for the overtime measure consistency were tested. Item response theory analysis further tested single items’ performances.\ud \ud Results: Explorative and confirmatory factor analyses confirmed the two-factor structure of the TGMD-3. Multi-group confirmatory factor analyses indicated that there were no significant reductions in model adjustments between the configural, metric and structural invariance solutions for gender and age groups. Test-retest results ranged between 0.967 and 0.990 for both skill sets across age groups. Item response theory analysis using a graded response model showed low standard error and high-test information levels covering a wide spectrum range of both locomotor and ball skills.\ud \ud Conclusions: These results highlight the strong construct validity and reliability of the TGMD-3 to measure gross motor skills in children across gender and age groups. Item response theory analysis evidenced how the performance criteria included in this test cover a wide range of gross the motor skills spectrum. The use of TGMD-3 may inform motor development programs and support curricular decisions in schools.

Resistance bands are often used in resistance training programs for older adults. Despite their widespread use, there is a lack of objective assessment of the actual strength, speed and precision of the movements during these exercises. Therefore, this paper presents the development of a sensorised resistance-band and a preliminary trial of activities classification by using artificial intelligence. The results show that in the preliminary trial, the classification accuracy of 4 different activities reached over 96% using accelerometer data only. A future study will be based on the sensorised resistance band to quantify resistance band exercises objectively in elderly people.

This study evaluated whether the Test of Gross Motor Development 3 (TGMD-3) is a reliable tool to compare children with and without mental and behavioral disorders across gross motor skill domains. A total of 1,075 children (aged 3-11 years), 98 with mental and behavioral disorders and 977 without (typically developing), were included in the analyses. The TGMD-3 evaluates fundamental gross motor skills of children across two domains: locomotor skills and ball skills. Two independent testers simultaneously observed children's performances (agreement over 95%). Each child completed one practice and then two formal trials. Scores were recorded only during the two formal trials. Multigroup confirmatory factor analysis tested the assumption of TGMD-3 measurement invariance across disability groups. According to the magnitude of changes in root mean square error of approximation and comparative fit index between nested models, the assumption of measurement invariance across groups was valid. Loadings of the manifest indicators on locomotor and ball skills were significant (p < .001) in both groups. Item response theory analysis showed good reliability results across locomotor and the ball skills full latent traits. The present study confirmed the factorial structure of TGMD-3 and demonstrated its feasibility across normally developing children and children with mental and behavioral disorders. These findings provide new opportunities for understanding the effect of specific intervention strategies on this population. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

BackgroundUnfortunately, global efforts to promote “how much” physical activity people should be undertaking have been largely unsuccessful. Given the difficulty of achieving a sustained lifestyle behavior change, many scientists are reexamining their approaches. One such approach is to focus on understanding the context of the lifestyle behavior (ie, where, when, and with whom) with a view to identifying promising intervention targets. ObjectiveThe aim of this study was to develop and implement an innovative algorithm to determine “where” physical activity occurs using proximity sensors coupled with a widely used physical activity monitor. MethodsA total of 19 Bluetooth beacons were placed in fixed locations within a multilevel, mixed-use building. In addition, 4 receiver-mode sensors were fitted to the wrists of a roving technician who moved throughout the building. The experiment was divided into 4 trials with different walking speeds and dwelling times. The data were analyzed using an original and innovative algorithm based on graph generation and Bayesian filters. ResultsLinear regression models revealed significant correlations between beacon-derived location and ground-truth tracking time, with intraclass correlations suggesting a high goodness of fit (R2=.9780). The algorithm reliably predicted indoor location, and the robustness of the algorithm improved with a longer dwelling time (>100 s; error

Objective: The aim of the study was to explore the association between fear of falling (FOF), dual-task ability during a mobility task, and the activities of daily living (ADL) in a sample of older adults.\ud \ud Methods: Seventy-six older adults (mean age M = 70.87 ± 5.16 years) participated in the study. Data on FOF (using the Falls Self-Efficacy Scale-International), walking ability during both single- and dual-task performances and ADL were collected.\ud \ud Results: Mediation analysis demonstrated the mediation effect of dual-task ability (β = 0.238, p = 0.011) between FOF and ADL level (β = 0.559, p < 0.001). Moreover, significantly lower performances were observed during dual-task condition [F (2, 73) = 7.386, p < 0.001], and lower ADL levels were also found in older adults with FOF [F (2, 73) = 13.734, p < 0.001].\ud \ud Conclusion: The study underlines the relationship between FOF, dual-task ability and ADL level. These results could be used to develop specific intervention programmes for successful ageing.

Previous research has established significant positive associations between social trust and wellbeing among older adults. This study aimed to obtain a deeper understanding of the relationship between different sources of social trust and wellbeing by examining the mediational role of political interest. A sample of 4,406 Italian residents aged 65 years and over was extracted from a national cross-sectional survey during 2013 in Italy, representative of the non-institutionalised population. Measures included trust in people, trust in institutions, political interest, life satisfaction and self-perceived health. Mediation path analysis and structural equation modelling were used to test the mediation effects of political interest on the relationship between trust in people and trust in institutions with life satisfaction and self-perceived health. Associations between trust in people, life satisfaction and self-perceived health, and between trust in institutions and life satisfaction were partially mediated by political interest, while the association between trust in institutions and self-perceived health was fully mediated by political interest. Having high levels of political interest may thus enhance the relationship between social trust and wellbeing among older adults. These results suggest that interventions to enhance wellbeing in older adults may benefit from examining individuals’ levels of political interest.

Poor balance control and falls are big issues for older adults that due to aging decline have a lower postural balance and directional control in balance performance than younger age groups. The four square step test (FSST) was developed to evaluate rapid stepping that is often required when changing direction and avoiding obstacles while walking. However, previous researchers used only the total time as the assessment in the test. The aim of this letter is to objectively quantify the sequence and direction of the steps in FSST, by using two inertial sensors placed on both feet. An algorithm was developed to automatically segment the steps performed during the test, and calculate the stepping direction from the linear velocity of the foot. Experiments were conducted with 100 Japanese healthy older adults, where sensor data and video of 20 subjects were randomly subtracted for algorithm verification. The results showed that the algorithm succeeded for 71.7% trials in recognizing both the step sequence and step direction in FSST, while 90.2% of the detection failure could be excluded with an auto verification method.

Dementia is a global issue which is rising rapidly, with 46.8 million people worldwide living with dementia in 2015. This number is expected to increase to 74.7 million by 2030. Some researches show that some kinds of exercises, such as resistance band exercises, would help to improve the memory and other abilities in patients with dementia. However, the true effectiveness of these activities is not really known due to the lack of objective assessment of efforts done during the long intervention time. Moreover, there is no way of measuring the actual activities performed by the patient without direct observation. As a consequence, it is impossible to measure the concordance between the patient and the therapist.

Automatic and objective detection algorithms for gait events from MEMS Inertial Measurement Units data have been developed to overcome subjective inaccuracy in traditional visual observation. Their accuracy and sensitivity have been verified with healthy older adults, Parkinson's disease and spinal injured patients, using single-task gait exercises, where events are precise as the subject is focusing only on walking. Multi-task walking instead simulates a more realistic and challenging scenario where subjects perform secondary cognitive task while walking, so it is a better benchmark. In this paper, we test two algorithms based on shank and foot angular velocity data in single-task, dual-task and multi-task walking. Results show that both algorithms fail when the subject slows extremely down or pauses due to high cognitive and attentional load, and, in particular, the first stride detection error rate of the foot-based algorithm increases. Stride time is accurate with both algorithms regardless of walking types, but the shank-based algorithm leads to an overestimation on the proportion of swing phase in one gait cycle. Increasing the number of cognitive tasks also causes this error with both algorithms.

Nowadays, with the development of the proportion of the elderly population in the world, several problems caused by the population aging gradually into people's horizons. One of the biggest problems plagued the vast majority of the elderly is hemiplegia, which leads to the vigorous development of the physical therapists. However, these traditional methods of physical therapy mainly rely on the skill of the physical therapists. In order to make up the defects of traditional methods, many research groups have developed different kinds of robots for lower limb rehabilitation training but most of them can only realize passive training which cannot adopt rehabilitation training based on the patients' individual condition effectively and they do not have a rehabilitation evaluation system to assess the real time training condition of the hemiplegic patients effectively. In order to solve the problems above, this paper proposed a lower limb rehabilitation evaluation system which is based on the virtual reality technology. This system has an easy observation of the human-computer interaction interface and the doctor is able to adjust the rehabilitation training direct at different patients in different rehabilitation stage based on this lower limb rehabilitation evaluation system. Compared with current techniques, this novel lower limb rehabilitation evaluation system is expected to have significant impacts in medical rehabilitation robot field.

Up to now, with the increasing of the elderly population, more and more patients are suffering from hemiplegia. The needs for hemiplegic rehabilitation is increasing quickly. As traditional rehabilitation, each patient must be treated by therapist, one by one. However, because of the different levels of therapists, the rehabilitation cannot be performed as the as the same. Normally, the rehabilitation status diagnosing is still be performed by therapists with the subjective experience. It caused the inhomogeneity on rehabilitation evaluation. It also sometimes causes negative influence on the rehabilitation effect. To solve these problems, many researches focusing on assessing the status of the hemiplegic patients quantitatively are proposed rehabilitation evaluation systems. Rehabilitation motion detection is the basis of the evaluation system, and it requires the participation of therapist. In this paper, a method is presented to detect lower limb motion of hemiplegic patients based on inertial sensor technology. The gesture quaternion of lower limb can be obtained through LPMS. With the matrix and Euler angle changing algorithm, combining with the simplified lower limb motion model, the rotation angle of joint can be computed. Finally, the curve of rotation angle of knee is established.

In gait rehabilitation, achieving a gait analysis method using a simple system during long-distance walking is important. This method is required to measure all gait parameters in a single measurement. In addition, it is required that the measurement system is not spatially constrained. Therefore, we have been developing a gait tracking system with acceleration sensors for long-distance gait rehabilitation. In this paper, we describe a gait phase detection method using foot acceleration data for estimating ground reaction force during long-distance gait rehabilitation. To develop this method, we focused on the jerk of each foot in vertical axis direction. Using two accelerometers mounted on the left and right feet, we carried out three experiments. First, we measured the jerk of each foot during a free gait to verify the relation with the walking speed. Second, we measured the jerk of each foot during walking faster than normal for each subject. We then compared these results with the results of first experiments. Finally, we measured the jerk of each foot during left-right asymmetrical walking. The results confirmed that gait phase could be detected using the jerk of each leg, calculated from acceleration data in vertical axis direction. In particular, the timing of Heel-contact / Toe-off could be obtained with an average error of 0.03 s. And as a preliminary study, we estimated the ground reaction force using the one of the results.

Problem statement: Jaw movement analysis, as a clinical aid, can prov ide an objective basis for understanding and diagnosing jaw musculos keletal disorders. Therefore, the use and development of devices for quantitatively measuring and analyzing jaw movement have become more common and popular in the clinic. Many types of jaw tracking devices have been developed, but most of them are still not handy and easy to be used. Approach: To improve the handiness and utility of the jaw movement analysis devices, we developed a simple to be used jaw tracking prototype by using a new ultra-miniaturized Inertial Measurement Unit (I MU) named WB-3. The WB-3 IMU was composed by 3-axis gyroscope, 3-axis accelerometer and 3-aixs magnetometer, which can not only measure the acceleration and angular speed of jaw movement, but also can measure mouth opening angle. The IMU's extremely reduced weight and size allowed it to be easily adhered to mandible during normal tests without physical restriction to the subjects. A preliminary experiment for jaw movement analysis during free chewing of three types of food with different shapes and hardness was evaluated. A group of 15 healthy subjects aged from 21-36 years old kindly participated in the experiment. Results: The parameters of chewing time, chewing frequency, power spectrum density of jaw's angular speed and acceleration, cumulative di stribution function of jaw's acceleration and mouth opening angle were presented. The experimental results clearly showed that the subjects used less chewing time, less chewing frequency, less accelera tion cumulative distribution and energy to eat soft food; higher values were found in the case of hard food and there was no significant difference in mouth opening angle while eating these three foods. Conclusion: Our jaw movement analysis prototype using IMU WB-3 was proved to be a valid and handy method for jaw movement and pattern analysis which may be used clinically as an assista nt system for dental therapy.

This paper proposes an innovative technique for monitoring the healing of severe bone fractures using a pair of radio frequency monopoles implanted in the fractured bone. It is envisaged that the screws and external fixation used to stabilise and align the bone will also act as monopole antennas. The proposed antenna configurations were measured inside three novel heterogeneous bone phantoms representing the radius, tibia and phalange bones, and the results were compared to computer simulations with a voxel model of a 26-year-old female from CST Microwave Studio's Virtual Family. The power transmitted from one monopole to the other (S 21) was measured and evaluated as an indicator for fracture healing as blood emulating liquid was injected inside the phantom emulating the conditions of a bone fracture. Finally, for the validation of the phantom measurements, an ex-vivo measurement was conducted using a lamb femur bone. In all cases, the power transmitted from one monopole to the other through the fracture decreased significantly as the volume of the blood representing the fracture increased. The proposed system could provide doctors with a quantitative monitoring tool regarding the healing progress of a fractured bone through the reduction of the wound's hematoma during the first four weeks after the trauma that are critical for bone restoration.

An implanted antenna system consisting of two monopoles attached on a metal plate for the monitoring of the healing of bone fractures has been investigated. The proposed structure has been simulated on a three layer body phantom model and the S2i response of the system is evaluated as the bone fracture that is introduced in the phantom gradually heals turning from blood to bone marrow and bone cortical in five discrete steps.

Postural stability degrades with age, threating the health and life quality of the older adults. One Leg Stance (OLS) is one of the standard and commonly adopted assessments for postural stability, and the postural sway in OLS has been demonstrated to be related with age. The propagation of postural sway between body segments could be a hint to the underlying mechanism of balance control. However, it is not yet fully understood. Therefore, the aim of this paper was to study the angular sways and their propagation of the head, trunk, and lower limb in healthy older adults. A cross-correlation of the normalized angular speeds was performed and the experiment with 68 older adults was conducted. The results showed that the head, hip and ankle joints affected the transfer of angular sway with a relatively lower correlation and longer latency.

Current training for laparoscopy focuses only on the enhancement of manual skill and does not give advice on improving trainees’ posture. However, a poor posture can result in increased static muscle loading, faster fatigue, and impaired psychomotor task performance. In this paper, the authors propose a method, named subliminal persuasion, which gives the trainee real-time advice for correcting the upper limb posture during laparoscopic training like the expert but leads to a lower increment in the workload. A 9-axis inertial measurement unit was used to compute the upper limb posture, and a Detection Reaction Time device was developed and used to measure the workload. A monitor displayed not only images from laparoscope, but also a visual stimulus, a transparent red cross superimposed to the laparoscopic images, when the trainee had incorrect upper limb posture. One group was exposed, when their posture was not correct during training, to a short (about 33 ms) subliminal visual stimulus. The control group instead was exposed to longer (about 660 ms) supraliminal visual stimuli. We found that subliminal visual stimulation is a valid method to improve trainees’ upper limb posture during laparoscopic training. Moreover, the additional workload required for subconscious processing of subliminal visual stimuli is less than the one required for supraliminal visual stimuli, which is processed instead at the conscious level. We propose subliminal persuasion as a method to give subconscious real-time stimuli to improve upper limb posture during laparoscopic training. Its effectiveness and efficiency were confirmed against supraliminal stimuli transmitted at the conscious level: Subliminal persuasion improved upper limb posture of trainees, with a smaller increase on the overall workload.

Nowadays, the technologies for detecting, processing and interpreting bioelectrical signals have improved tremendously. In particular, surface electromyography (sEMG) has gained momentum in a wide range of applications in various fields. However, sEMG sensing has several shortcomings, the most important being: measurements are heavily sensible to individual differences, sensors are difficult to position and very expensive. In this paper, the authors will present an innovative muscle contraction sensing device (MC sensor), aiming to replace sEMG sensing in the field of muscle movement analysis. Compared with sEMG, this sensor is easier to position, setup and use, less dependent from individual differences, and less expensive. Preliminary experiments, described in this paper, confirm that MC sensing is suitable for muscle contraction analysis, and compare the results of sEMG and MC sensor for the measurement of forearm muscle contraction.

Robots, especially humanoids, are expected to perform human-like actions and adapt to our ways of communication in order to facilitate their acceptance in human society. Among humans, rules of communication change depending on background culture: greetings are a part of communication in which cultural differences are strong. Robots should adapt to these specific differences in order to communicate effectively, being able to select the appropriate manner of greeting for different cultures depending on the social context. In this paper, we present the modelling of social factors that influence greeting choice, and the resulting novel culture-dependent greeting gesture and words selection system. An experiment with German participants was run using the humanoid robot ARMAR-IIIb. Thanks to this system, the robot, after interacting with Germans, can perform greeting gestures appropriate to German culture in addition to a repertoire of greetings appropriate to Japanese culture.

Current prosthetic hands are basically simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. Although most amputees consider this performance as acceptable for usual tasks, there is ample room for improvement by exploiting recent progresses in mechatronics design and technology. We are developing a novel prosthetic hand featured by multiple degrees of freedom, tactile sensing capabilities, and distributed control. Our main goal is to pursue an integrated design approach in order to fulfill critical requirements such as cosmetics, controllability, low weight, low energy consumption and noiselessness. This approach can be synthesized by the definition "biomechatronic design", which means developing mechatronic systems inspired by living beings and able to work harmoniously with them.This paper describes the first implementation of one single finger of a future biomechatronic hand. The finger has a modular design, which allows to obtain hands with different degrees of freedom and grasping capabilities. Current developments include the implementation of a hand comprising three fingers (opposing thumb, index and middle) and an embedded controller.

The human hand is a complex system, with a large number of degrees of freedom (DoFs), sensors embedded in its structure, actuators and tendons, and a complex hierarchical control. Despite this complexity, the efforts required to the user to carry out the different movements is quite small (albeit after an appropriate and lengthy training). On the contrary, prosthetic hands are just a pale replication of the natural hand, with significantly reduced grasping capabilities and no sensory information delivered back to the user. Several attempts have been carried out to develop multifunctional prosthetic devices controlled by electromyographic (EMG) signals (myoelectric hands), harness (kinematic hands), dimensional changes in residual muscles, and so forth, but none of these methods permits the "natural" control of more than two DoFs. This article presents a review of the traditional methods used to control artificial hands by means of EMG signal, in both the clinical and research contexts, and introduces what could be the future developments in the control strategy of these devices.

The use of inertial sensors for the gait event detection during a long-distance walking, for example, on different surfaces and with different walking patterns, is important to evaluate the human locomotion. Previous studies demonstrated that gyroscopes on the shank or foot are more reliable than accelerometers and magnetometers for the event detection in case of normal walking. However, these studies did not link the events with the temporal parameters used in the clinical practice; furthermore, they did not clearly verify the optimal position for the sensors depending on walking patterns and surface conditions. The event detection quality of the sensors is compared with video, used as ground truth, according to the parameters proposed by the Gait and Clinical Movement Analysis Society. Additionally, the performance of the sensor on the foot is compared with the one on the shank. The comparison is performed considering both normal walking and deviations to the walking pattern, on different ground surfaces and with or without constraints on movements. The preliminary results show that the proposed methodology allows reliable detection of gait events, even in case of abnormal footfall and in slipping surface conditions, and that the optimal location to place the sensors is the shank.

Different types of sensors are being used to study deglutition and mastication. These often suffer from problems related to portability, cost, reliability, comfort etc. that make it difficult to use for long term studies. An inertial measurement based sensor seems a good fit in this application; however its use has not been explored much for the specific application of deglutition research. In this paper, we present a system comprised of an IMU and EMG sensor that are integrated together as a single system. With a preliminary experiment, we determine that the system can be used for measuring the head-neck posture during swallowing in addition to other parameters during the swallowing phase. The EMG sensor may not always be a reliable source of physiological data especially for small clustered muscles like the ones responsible for swallowing. In this case, we explore the possibility of using gyroscopic data for the recognition of deglutition events.

Humanoid robots have this formidable advantage to possess a body quite similar in shape to humans. This body grants them, obviously, locomotion but also a medium to express emotions without even needing a face. In this paper we propose to study the effects of emotional gaits from our biped humanoid robot on the subjects' perception of the robot (recognition rate of the emotions, reaction time, anthropomorphism, safety, likeness, etc.). We made the robot walk towards the subjects with different emotional gait patterns. We assessed positive (Happy) and negative (Sad) emotional gait patterns on 26 subjects divided in two groups (whether they were familiar with robots or not). We found that even though the recognition of the different types of patterns does not differ between groups, the reaction time does. We found that emotional gait patterns affect the perception of the robot. The implications of the current results for Human Robot Interaction (HRI) are discussed.

This paper describes the bipedal humanoid robot that makes human laugh with its whole body expression and affect human’s psychological state. In order to realize "Social interaction" between human and robot, the robot has to affect human’s psychological state actively. We focused on "laugh" because it can be thought as a typical example for researching "Social interaction". Looking through a Japanese comedy style called "manzai" or the art of conversation, we picked out several methods for making human laugh. Then we made several skits with the advice of comedians, and made the whole body humanoid robot perform them. Results of experimental evaluation with these skits shows that the robot’s behavior made subjects laugh and change their psychological state seen as a decrease of "Depression" and "Anger".

In human-robot interaction, it is important for the robots to adapt to our ways of communication. As humans, rules of non-verbal communication, including greetings, change depending on our culture. Social robots should adapt to these specific differences in order to communicate effectively, as a correct way of approaching often results into better acceptance of the robot. In this study, a novel greeting gesture selection system is presented and an experiment is run using the robot ARMAR-IIIb. The robot performs greeting gestures appropriate to Japanese culture; after interacting with German participants, the selection should become appropriate to German culture. Results show that the mapping of gesture selection evolves successfully.

As witnessed in several behavioural studies, a complex relationship exists between people’s cultural background and their general acceptance towards robots. However, very few studies have investigated whether a robot’s original language and gesture based on certain culture have an impact on the people of the different cultures. The purpose of this work is to provide experimental evidence which supports the idea that humans may accept more easily a robot that can adapt to their specific culture. Indeed, improving acceptance and reducing discomfort is fundamental for future deployment of robots as assistive, health-care or companion devices into a society. We conducted a Human- Robot Interaction experiment both in Egypt and in Japan. Human subjects were engaged in a simulated video conference with robots that were greeting and speaking either in Arabic or in Japanese. The subjects completed a questionnaire assessing their preferences and their emotional state, while their spontaneous reactions were recorded in different ways. The results suggest that Egyptians prefer the Arabic robot, while they feel a sense of discomfort when interacting with the Japanese robot; the opposite is also true for the Japanese. These findings confirm the importance of the localisation of a robot in order to improve human acceptance during social human-robot interaction.

Performing laparoscopic surgery requires several skills, which have never been required for conventional open surgery. Surgeons experience difficulties in learning and mastering these techniques. Various training methods and metrics have been developed to assess and improve surgeon's operative abilities. While these training metrics are currently widely being used, skill evaluation methods are still far from being objective in the regular laparoscopic skill education. This study proposes a methodology of defining a processing model that objectively evaluates surgical movement performance in the routine laparoscopic training course. Our approach is based on the analysis of kinematic data describing the movements of surgeon's upper limbs. An ultraminiaturized wearable motion capture system (Waseda Bioinstrumentation system WB-3), therefore, has been developed to measure and analyze these movements. The data processing model was trained by using the subjects' motion features acquired from the WB-3 system and further validated to classify the expertise levels of the subjects with different laparoscopic experience. Experimental results show that the proposed methodology can be efficiently used both for quantitative assessment of surgical movement performance, and for the discrimination between expert surgeons and novices.