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481 results on '"Dosen, Strahinja"'

4. Semi-autonomous Prosthesis Control Using Minimal Depth Information and Vibrotactile Feedback

Author

Castro, Miguel Nobre and Dosen, Strahinja

Subjects
Computer Science - Computer Vision and Pattern Recognition, Computer Science - Robotics
Abstract

A semi-autonomous prosthesis control based on computer vision can be used to improve performance while decreasing the cognitive burden, especially when using advanced systems with multiple functions. However, a drawback of this approach is that it relies on the complex processing of a significant amount of data (e.g., a point cloud provided by a depth sensor), which can be a challenge when deploying such a system onto an embedded prosthesis controller. In the present study, therefore, we propose a novel method to reconstruct the shape of the target object using minimal data. Specifically, four concurrent laser scanner lines provide partial contours of the object cross-section. Simple geometry is then used to reconstruct the dimensions and orientation of spherical, cylindrical and cuboid objects. The prototype system was implemented using depth sensor to simulate the scan lines and vibrotactile feedback to aid the user during aiming of the laser towards the target object. The prototype was tested on ten able-bodied volunteers who used the semi-autonomous prosthesis to grasp a set of ten objects of different shape, size and orientation. The novel prototype was compared against the benchmark system, which used the full depth data. The results showed that novel system could be used to successfully handle all the objects, and that the performance improved with training, although it was still somewhat worse compared to the benchmark. The present study is therefore an important step towards building a compact system for embedded depth sensing specialized for prosthesis grasping.

Published
2022

5. Statistical Characterization of Closed-Loop Latency at the Mobile Edge

Author

Suman, Suraj, Chiariotti, Federico, Stefanovic, Cedomir, Dosen, Strahinja, and Popovski, Petar

Subjects
Computer Science - Networking and Internet Architecture
Abstract

The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls a robot by exchanging command and feedback signals. We present a framework to analyze the latency of a closed-loop teleoperation system consisting of three entities: HO, robot located in remote environment, and a Base Station (BS) with Mobile edge Computing (MEC) capabilities. A model of each component of the system is used to analyze the closed-loop latency and decide upon the optimal compression strategy. The closed-form expression of the distribution of the closed-loop latency is difficult to estimate, such that suitable upper and lower bounds are obtained. We formulate a non-convex optimization problem to minimize the closed-loop latency. Using the obtained upper and lower bound on the closed-loop latency, a computationally efficient procedure to optimize the closed-loop latency is presented. The simulation results reveal that compression of sensing data is not always beneficial, while system design based on average performance leads to under-provisioning and may cause performance degradation. The applicability of the proposed analysis is much wider than teleoperation, for systems whose latency budget consists of many components., Comment: Submitted to IEEE Transactions on Communications

Published
2022

6. Analysis and Optimization of the Latency Budget in Wireless Systems with Mobile Edge Computing

Author

Suman, Suraj, Stefanovic, Cedomir, Došen, Strahinja, and Popovski, Petar

Subjects
Electrical Engineering and Systems Science - Systems and Control, Electrical Engineering and Systems Science - Signal Processing
Abstract

We present a framework to analyse the latency budget in wireless systems with Mobile Edge Computing (MEC). Our focus is on teleoperation and telerobotics, as use cases that are representative of mission-critical uplink-intensive IoT systems with requirements on low latency and high reliability. The study is motivated by a general question: What is the optimal compression strategy in reliability and latency constrained systems? We address this question by studying the latency of an uplink connection from a multi-sensor IoT device to the base station. This is a critical link tasked with a timely and reliable transfer of potentially significant amount of data from the multitude of sensors. We introduce a comprehensive model for the latency budget, incorporating data compression and data transmission. The uplink latency is a random variable whose distribution depends on the computational capabilities of the device and on the properties of the wireless link. We formulate two optimization problems corresponding to two transmission strategies: (1) Outage-constrained, and (2) Latency-constrained. We derive the optimal system parameters under a reliability criterion. We show that the obtained results are superior compared to the ones based on the optimization of the expected latency., Comment: Accepted in IEEE International Conference on Communications (ICC) 2022, Seoul, South Korea

Published
2022

10. The Effect of Cognitive Load on Electrotactile Communication via a Multi-pad Electrode

Author

Jure, Fabricio Ariel, Spaich, Erika Geraldina, Petrini, Laura, Dosen, Strahinja, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Valle, Maurizio, editor, Lehmhus, Dirk, editor, Gianoglio, Christian, editor, Ragusa, Edoardo, editor, Seminara, Lucia, editor, Bosse, Stefan, editor, Ibrahim, Ali, editor, and Thoben, Klaus-Dieter, editor

Published
2023
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19. Electrotactile Stimulation, A New Feedback Channel for First Responders

Author

Štrbac, Matija, Isaković, Milica, Malešević, Jovana, Marković, Gorana, Došen, Strahinja, Jorgovanović, Nikola, Bijelić, Goran, Kostić, Milos, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Ayaz, Hasan, editor, Asgher, Umer, editor, and Paletta, Lucas, editor

Published
2021
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20. Prosthetic Feedback Systems

Author

Dosen, Strahinja, Prahm, Cosima, Amsüss, Sebastian, Vujaklija, Ivan, Farina, Dario, Aszmann, Oskar C., editor, and Farina, Dario, editor

Published
2021
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23. Online Simultaneous Myoelectric Finger Control

Author

Dupan, Sigrid S. G., Vujaklija, Ivan, Stachaczyk, Martyna K., Hahne, Janne M., Stegeman, Dick F., Dosen, Strahinja S., Farina, Dario, Guglielmelli, Eugenio, Series Editor, Masia, Lorenzo, editor, Micera, Silvestro, editor, Akay, Metin, editor, and Pons, José L., editor

Published
2019
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24. HD-EMG to Assess Motor Learning in Myoelectric Control

Author

Dupan, Sigrid S. G., Vujaklija, Ivan, De Vitis, Giulia, Dosen, Strahinja S., Farina, Dario, Stegeman, Dick F., Guglielmelli, Eugenio, Series Editor, Masia, Lorenzo, editor, Micera, Silvestro, editor, Akay, Metin, editor, and Pons, José L., editor

Published
2019
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40. Brain Computer Interface training for patients with severe upper limb paresis after stroke: A pilot RCT

Author

Brunner, Iris, Lundquist, Camilla, Pedersen, Asger Roer, Spaich, Erika G., Dosen, Strahinja, and Savić, Andrej M.

Subjects
Brain-computer interface, Neurorehabilitation, Upper limb, stroke
Abstract

Background:Brain Computer Interfaces (BCI) pair brain activity with visual and/or motor feedback. They may provide sorely needed training alternatives for patients with severely impaired upper limb after stroke, where treatment choices are limited and unsatisfactory.Objectives:To examine if BCI-based training is more effective in improving upper limb (UL) motor function than conventional therapy in the subacute phase after stroke and if patients with preserved cortical-spinal tract (CST) integrity benefit more from BCI training.Methods:Forty patients with stroke and severe UL paresis (< 13 on Action Research Arm Test (ARAT)) were included and randomized to either BCI training as part of their rehabilitation or conventional UL rehabilitation with a target of 12 BCI sessions. The sessions were conducted 3-4 times weekly for 3-4 weeks. Main endpoint was the ARAT at three months post stroke. Secondary outcome measures comprised Fugl-Meyer Motor Assessment UL and Functional Independence Measure. At baseline, Transcranial direct stimulation (TMS) was performed to examine CST integrity. EEG data were analyzed to see if there were changes in Event-related desynchronization (ERD) and lateralization during the course of treatment.Results: Data from 35 patients were available at three months follow-up. In general, few patients (10/35) improved above the minimally clinically important difference of 6 points on ARAT, in the BCI group 5/15, in control 5/20. An independent samples Mann-Whitney U test revealed no differences between the groups, p=0.382. CST lesion (MEP-) was a significant predictor of poor outcome, p=ConclusionsThough more patients in the BCI group improved, the difference was not significant. Larger studies including only patients with some preserved CST integrity should be attempted.

Published
2023

46. Benchmarking Human-Like Posture and Locomotion of Humanoid Robots: A Preliminary Scheme

Author

Torricelli, Diego, Mizanoor, Rahman S. M., Gonzalez, Jose, Lippi, Vittorio, Hettich, Georg, Asslaender, Lorenz, Weckx, Maarten, Vanderborght, Bram, Dosen, Strahinja, Sartori, Massimo, Zhao, Jie, Schüetz, Steffen, Liu, Qi, Mergner, Thomas, Lefeber, Dirk, Farina, Dario, Berns, Karsten, Pons, Jose Louis, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Goebel, Randy, Series editor, Tanaka, Yuzuru, Series editor, Wahlster, Wolfgang, Series editor, Siekmann, Jörg, Series editor, Duff, Armin, editor, Lepora, Nathan F., editor, Mura, Anna, editor, Prescott, Tony J., editor, and Verschure, Paul F. M. J., editor

Published
2014
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47. The Future of Bionic Limbs: The untapped synergy of signal processing, control, and wireless connectivity

Author

Chiariotti, Federico, Mamidanna, Pranav, Suman, Suraj, Stefanovic, Cedomir, Farina, Dario, Popovski, Petar, Dosen, Strahinja, and Dardari, D.

Abstract

The flexibility and dexterity of human limbs rely on the processing of a vast quantity of signals within the sensory-motor networks in the brain and spinal cord, distilled into stimuli that govern the commands and movements. Hence, the use of assistive devices, such as robotic limbs or exoskeletons, is critically dependent on the processing of a large number of heterogeneous signals to mimic natural movements. This article provides a panoramic overview of the three paradigms for the control of bionic limbs based on mechatronic technology. Two of them have already been established in the literature, while the third one, advocated by this article, is an emerging approach, enabled by the latest developments in connectivity and computation. In the first paradigm, the bionic limbs rely on conventional control and are directly reconnected to the human sensory-motor system, which requires a large signal processing bandwidth. The second paradigm is based on semiautonomous limbs, endowed with context-aware processing and certain decision capability. Following the advances in wireless connectivity and cloud/edge processing, this article introduces a third paradigm of connected limbs.

Published
2024
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48. Online Simultaneous Myoelectric Finger Control

Author

Dupan, Sigrid S. G., primary, Vujaklija, Ivan, additional, Stachaczyk, Martyna K., additional, Hahne, Janne M., additional, Stegeman, Dick F., additional, Dosen, Strahinja S., additional, and Farina, Dario, additional

Published
2018
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