Author: "Institut des Systèmes Intelligents et de Robotique (ISIR)" - Searchworks@Jio Institute Digital Library Search Results

Your search keyword '"Institut des Systèmes Intelligents et de Robotique (ISIR)"' showing total 1,935 results

Start Over Author "Institut des Systèmes Intelligents et de Robotique (ISIR)"

1,935 results on '"Institut des Systèmes Intelligents et de Robotique (ISIR)"'

1. Exploring Capturing Approaches in Shared Fabrication Workshops: Current Practice and Opportunities

Author: Clara Rigaud, Gilles Bailly, Ignacio Avellino, Yvonne Jansen, Interactions Multi-échelles, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Popular interaction with 3d content (Potioc), Laboratoire Bordelais de Recherche en Informatique (LaBRI), Université de Bordeaux (UB)-École Nationale Supérieure d'Électronique, Informatique et Radiocommunications de Bordeaux (ENSEIRB)-Centre National de la Recherche Scientifique (CNRS)-Université de Bordeaux (UB)-École Nationale Supérieure d'Électronique, Informatique et Radiocommunications de Bordeaux (ENSEIRB)-Centre National de la Recherche Scientifique (CNRS)-Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and ANR-17-CE33-0001,AfFABLe,Augmentation des fab labs en intégrant des visualisations de données(2017)
Subjects: knowledge resources, Human-Computer Interaction, Computer Networks and Communications, makerspace, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], capture, fabrication workshop, Social Sciences (miscellaneous)
Abstract: International audience; Capturing content of fabrication activities is the first step for producing knowledge resources and an integral part of maker culture. As a secondary task, it conflicts though with the fabrication activity, and thus it is often forgotten and knowledge resources end up incomplete. In this article, we investigate different dimensions of content capture for knowledge resources in fabrication workshops. Based on past work in this area, we first propose a framework through which we identify two research directions to investigate. From these, we derive three dimensions to explore in more depth: The number of capturing devices, their feature variety and the degree of automation of each feature. We then explore the design space resulting from these three dimensions with the help of a design concept and an online survey study (N=66). Results show (1) a variety of needs and preferences justifying feature variety and multiplicity, (2) challenges in defining the right degree of manual and automatic control, and (3) the socio-technical impact of cameras in a shared space regarding privacy and ethics. We conclude with discussions on the benefits and vulnerabilities of equipping fabrication workshop with distributed camera-based capturing devices and offer opportunities for design.
Published: 2022

2. The Ethics of Supernumerary Robotic Limbs. An Enactivist Approach

Author: Di Stefano, Nicola, Jarrassé, Nathanaël, Valera, Luca, Institute of Cognitive Sciences and Technologies (ICST-CNR), Consiglio Nazionale delle Ricerche (CNR), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Pontificia Universidad Católica de Chile (UC), Universidad de Valladolid [Valladolid] (UVa), and Jarrasse, Nathanael
Subjects: [SPI]Engineering Sciences [physics], [SHS.PHIL] Humanities and Social Sciences/Philosophy, Cognition, Motor augmentation, Wearable robotics, [SPI] Engineering Sciences [physics], [SHS.PHIL]Humanities and Social Sciences/Philosophy, Humans, Human augmentation, Robotics, Enactivism, Human enhancement
Abstract: International audience; Supernumerary robotic limbs are innovative devices in the field of wearable robotics which can provide humans with unprecedented sensorimotor abilities. However, scholars have raised awareness of the ethical issues that would arise from the large adoption of technologies for human augmentation in society. Most negative attitudes towards such technologies seem to rely on an allegedly clear distinction between therapy and enhancement in the use of technological devices. Based on such distinction, people tend to accept technologies when used for therapeutic purposes (e.g., prostheses), but tend to raise issues when similar devices are used for upgrading a physical or cognitive ability (e.g., supernumerary robotics limbs). However, as many scholars have pointed out, the distinction between therapy and enhancement might be theoretically flawed. In this paper, we present an alternative approach to the ethics of supernumerary limbs which is based on two related claims. First, we propose to conceive supernumerary limbs as tools that necessarily modify our psychological and bodily identity. At the same time, we stress that such a modification is not ethically bad in itself; on the contrary, it drives human interaction with the environment. Second, by comparing our view with the extended mind thesis, we claim that the mediation through tools is crucial for the formation of novel meanings and skills that constitute human interaction with the world. We will relate the latter claim to enactivism as a helpful theoretical perspective to frame issues related to artificial limbs and, more in general, to technologies for augmentation. Based on this approach, we finally sketch some suggestions for future directions in the ethics of supernumerary limbs.
Published: 2023

3. Le mythe du cyborg : techno-enchantement, récits héroïques et promesses de réparation technologique du corps

Author: Gourinat, Valentine, Jarrasse, Nathanael, Sciences et Société, Historicité, Éducation et Pratiques (EA S2HEP), École normale supérieure de Lyon (ENS de Lyon)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon, Université Claude Bernard Lyon 1 (UCBL), Université de Lyon, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Sorbonne Université (SU)
Subjects: Technology, Corps réparé, Cyborg, Repaired body, Mass media, Cyborg, Médias de masse, Technologie, Myth, Mythe, Mass media, [SHS]Humanities and Social Sciences
Abstract: International audience; The cyborg and its technologically reconstructed body, far from being just a character from the contemporary imagination and the mass culture of science fiction, can be considered now as contemporary myth. Beyond the simple heroic figure it embodies, it also echoes a contemporary paradigm, that of the possible repair, or even enhancement of the biological body through technological substitution. But this new representation of the body has significant consequences on the technological, medical and social fields : it reorients and influences the way bodies fitted with prostheses are perceived and treated, but also conveys ideals loaded with ideological assumptions and political interests. This article proposes, by bringing to light the modalities of constitution and functioning of the cyborg myth, to deconstruct and demystify the ideological values that it now represents.; Le cyborg et son corps reconstruit par la technologie, loin de n'être qu'un personnage de l'imaginaire contemporain et de la culture de masse issue de la science-fiction, se révèle, par sa diffusion et sa force, atteindre le rang de mythe contemporain. Au-delà de la simple figure héroïque qu'il incarne, il fait également écho à un paradigme contemporain, celui d'une possible réparation, voire amélioration du corps biologique par substitution technologique. Or cette nouvelle représentation du corps a un impact majeur sur le champ technologique, médical ou social : elle réoriente et influence la manière dont les corps appareillés sont perçus et traités, mais véhicule aussi des idéaux desquels postulats idéologiques et intérêts politiques ne sont pas absents. Cet article propose, par la mise en lumière des modalités de constitution et de fonctionnement du mythe du cyborg, de déconstruire et démystifier les valeurs idéologiques dont il se fait le porte-drapeau.
Published: 2023

4. Augmentation de jeux de données RI pour la recherche conversationnelle à initiative mixte

Author: Erbacher, P. (Pierre), Preux, P. (Philippe), Nie, J-Y. (Jian-Yun), Soulier, L. (Laure), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Machine Learning and Information Access (MLIA), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Département d'Informatique et de Recherche Opérationnelle [Montreal] (DIRO), Université de Montréal (UdeM), Zargayouna, Haïfa, ANR-18-CE23-0001,SESAMS,Systèmes conversationnels de recherche d'information(2018), Montreal University, Scool (Scool), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique [ISIR], and Scool [Scool]
Subjects: méthodologie de construction d'ensembles de données, interactions mixtes, Recherche conversationnelle, recherche d'informations, [INFO.INFO-CL]Computer Science [cs]/Computation and Language [cs.CL]
Abstract: International audience; Une des particularités des systèmes de recherche conversationnelle est qu'ils impliquent des initiatives mixtes telles que des questions de clarification des requêtes générées par le système pour mieux comprendre le besoin utilisateur. L'évaluation de ces systèmes à grande échelle sur la tâche finale de RI est très difficile et nécessite des ensembles de données adéquats contenant de telles interactions. Cependant, les jeux de données actuels se concentrent uniquement sur les tâches traditionnelles de RI ad hoc ou sur les tâches de clarification de la requête. Pour combler cette lacune, nous proposons une méthodologie pour construire automatiquement des ensembles de données de RI conversationnelle à grande échelle à partir d'ensembles de données de RI ad hoc afin de faciliter les explorations sur la RI conversationnelle. Nous effectuons une évaluation approfondie montrant la qualité et la pertinence des interactions générées pour chaque requête initiale. Cet article montre la faisabilité et l'utilité de l'augmentation des ensembles de données de RI ad-hoc pour la RI conversationnelle.
Published: 2023

5. Anticipation and compensation for somatosensory deficits in object handling: evidence from a patient with large fiber sensory neuropathy

Author: Agnès Roby-Brami, Nathanaël Jarrassé, Fabrice R. Sarlegna, Ross Parry, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: Male, medicine.medical_specialty, Physiology, Somatosensory system, 050105 experimental psychology, Compensation (engineering), Polyneuropathies, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, Feedback, Sensory, medicine, Humans, 0501 psychology and cognitive sciences, Neurons, Afferent, Aged, Hand Strength, Object handling, [SCCO.NEUR]Cognitive science/Neuroscience, General Neuroscience, 05 social sciences, GRASP, Feed forward, Middle Aged, Adaptation, Physiological, Anticipation, Biomechanical Phenomena, Sensory neuropathy, Female, Grip force, Psychology, Psychomotor Performance, 030217 neurology & neurosurgery
Abstract: International audience; The purpose of this study was to determine the contributions of feedforward and feedback processes on grip force regulation and object orientation during functional manipulation tasks. One patient with massive somatosensory loss resulting from large fibre sensory neuropathy, and ten control participants were recruited. Three experiments were conducted: 1) perturbation to static holding; 2) discrete vertical movement; and 3) functional grasp and place. The availability of visual feedback was also manipulated to assess the nature of compensatory mechanisms. Results from experiment 1 indicated that both the deafferented patient and controls used anticipatory grip force adjustments prior to self-induced perturbation to static holding. The patient exhibited increased grip response time, but the magnitude of grip force adjustments remained correlated with perturbation forces in the self-induced and external perturbation conditions. In experiment 2, the patient applied peak grip force substantially in advance of maximum load force. Unlike controls, the patient's ability to regulate object orientation was impaired without visual feedback. In experiment 3, the duration of unloading, transport and release phases were longer for the patient, with increased deviation of object orientation at phase transitions. These findings show that the deafferented patient uses distinct modes of anticipatory control according to task constraints, and that responses to perturbations are mediated by alternative afferent information. The loss of somatosensory feedback thus appears to impair control of object orientation, while variation in the temporal organization of functional tasks may reflect strategies to mitigate object instability associated with changes in movement dynamics.
Published: 2021

6. Kinematic analysis of impairments and compensatory motor behavior during prosthetic grasping in below-elbow amputees

Author: Amélie Touillet, Adrienne Gouzien, Marina Badin, Pierrick Herbe, Noël Martinet, Nathanaël Jarrassé, Agnès Roby-Brami, Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), Hôpitaux de Saint Maurice (HNSM), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU), and Jarrasse, Nathanael
Subjects: [SDV.IB] Life Sciences [q-bio]/Bioengineering, Multidisciplinary, [SDV.MHEP] Life Sciences [q-bio]/Human health and pathology, Amputees, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Elbow Joint, Elbow, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Humans, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Artificial Limbs, [SDV.MHEP]Life Sciences [q-bio]/Human health and pathology, Biomechanical Phenomena
Abstract: International audience; After a major upper limb amputation, the use of myoelectric prosthesis as assistive devices is possible. However, these prostheses remain quite difficult to control for grasping and manipulation of daily life objects. The aim of the present observational case study is to document the kinematics of grasping in a group of 10 below-elbow amputated patients fitted with a myoelectric prosthesis in order to describe and better understand their compensatory strategies. They performed a grasping to lift task toward 3 objects (a mug, a cylinder and a cone) placed at two distances within the reaching area in front of the patients. The kinematics of the trunk and upper-limb on the non-amputated and prosthetic sides were recorded with 3 electromagnetic Polhemus sensors placed on the hand, the forearm (or the corresponding site on the prosthesis) and the ipsilateral acromion. The 3D position of the elbow joint and the shoulder and elbow angles were calculated thanks to a preliminary calibration of the sensor position. We examined first the effect of side, distance and objects with non-parametric statistics. Prosthetic grasping was characterized by severe temporo-spatial impairments consistent with previous clinical or kinematic observations. The grasping phase was prolonged and the reaching and grasping components uncoupled. The 3D hand displacement was symmetrical in average, but with some differences according to the objects. Compensatory strategies involved the trunk and the proximal part of the upper-limb, as shown by a greater 3D displacement of the elbow for close target and a greater forward displacement of the acromion, particularly for far targets. The hand orientation at the time of grasping showed marked side differences with a more frontal azimuth, and a more “thumb-up” roll. The variation of hand orientation with the object on the prosthetic side, suggested that the lack of finger and wrist mobility imposed some adaptation of hand pose relative to the object. The detailed kinematic analysis allows more insight into the mechanisms of the compensatory strategies that could be due to both increased distal or proximal kinematic constraints. A better knowledge of those compensatory strategies is important for the prevention of musculoskeletal disorders and the development of innovative prosthetics.
Published: 2022

7. Pregnancy issues in Takayasu arteritis

Author: Jacky Nizard, Patrice Cacoub, Cloé Comarmond, David Saadoun, Centre National de Référence Maladies auto-immunes Systémiques Rares [CHU Pitié-Salpêtrière], CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Immunologie - Immunopathologie - Immunothérapie [CHU Pitié Salpêtrière] (I3), CHU Charles Foix [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Departement Hospitalo- Universitaire - Inflammation, Immunopathologie, Biothérapie [Paris] (DHU - I2B), CHU Trousseau [APHP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-CHU Saint-Antoine [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Pitié-Salpêtrière [AP-HP], Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Service de Gynécologie-Obstétrique, Maternité, Chirurgie Gynécologique [CHU Pitié-Salpêtrière], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Sorbonne Université (SU), Sorbonne Université (SU)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-CHU Saint-Antoine [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-CHU Trousseau [APHP], Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Pediatrics, medicine.medical_specialty, Cardiovascular Complication, [SDV]Life Sciences [q-bio], Takayasu arteritis, Disease, Clinical onset, 03 medical and health sciences, 0302 clinical medicine, Rheumatology, Pregnancy, medicine.artery, medicine, Humans, 030212 general & internal medicine, Aorta, 030203 arthritis & rheumatology, Potential impact, business.industry, Pregnancy Outcome, Prognosis, medicine.disease, Takayasu Arteritis, 3. Good health, Anesthesiology and Pain Medicine, Hypertension, Female, business, Vasculitis
Abstract: International audience; Takayasu arteritis (TAK) is a chronic inflammatory vasculitis of unknown origin affecting large vessels, predominantly the aorta and its main branches. TAK usually affects young women and the management of pregnancy during this vasculitis may be a challenging situation. After a review of the literature, we analysed the data of 505 pregnancies in 373 TAK patients. We discuss main results to clarify if the pregnancy outcome is affected by TAK, especially during disease clinical onset or disease activity. We also discuss the potential impact of pregnancy on TAK prognosis. Disease activity of TAK appears independently associated with a poor pregnancy outcome. More than 5% of pregnant women with TAK develop a life-threatening maternal cardiovascular complication. A good control of TAK disease activity and arterial hypertension before conception and during pregnancy is critical to improve both maternal and foetal outcomes. Pregnancies in the setting of TAK should be considered high-risk, requiring a close collaboration between specialists involved in the care of TAK and obstetricians.
Published: 2020

8. Guiding the Training of Users With a Pattern Similarity Biofeedback to Improve the Performance of Myoelectric Pattern Recognition

Author: Amélie Touillet, Noël Martinet, Etienne de Montalivet, Nathanaël Jarrassé, Kevin Bailly, Jean Paysant, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), Jarrasse, Nathanael, Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 030506 rehabilitation, Computer science, medicine.medical_treatment, Interface (computing), Biomedical Engineering, Artificial Limbs, Biofeedback, Session (web analytics), Pattern Recognition, Automated, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Amputees, Similarity (psychology), Internal Medicine, medicine, Humans, Electromyography, business.industry, General Neuroscience, Rehabilitation, Biofeedback, Psychology, Pattern recognition, Visualization, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Pattern recognition (psychology), False positive rate, Artificial intelligence, 0305 other medical science, business, 030217 neurology & neurosurgery, Gesture
Abstract: International audience; Next generation prosthetics will rely massively on myoelectric "Pattern Recognition" (PR) based control approaches , to improve their users' dexterity. One major identified factor of successful functioning of these approaches lies in the training of amputees and in their understanding of how those prosthetics works. We thus propose here an intuitive pattern similarity biofeedback which can be easily used to train amputees and allow them to optimize their muscular contractions to improve their control performance. Experiments were conducted on twenty able-bodied participants and one transradial amputee. Their performance in controlling an interface through a myoelectric PR algorithm was evaluated; before and after a short automatic user training session consisting in using the proposed visual biofeedback for ten participants, and using a generic PR algorithm output feedback for the others ten. Participants who were trained with the proposed biofeedback increased their classification score for the retrained gesture (by 39.4%), without affecting the overall classification performance (which progressed by 10.2%) through over-training and increase of False Positive rate as observed in the control group. Additional analysis indicates a clear change in contraction strategy only in the group who used the proposed biofeedback. These preliminary results highlight the potential of this method which does not focus so much on over-optimizing the pattern recognition algorithm or on physically training the users, but on providing them simple and intuitive information to adapt or change their motor strategies to solve some misclassification issues.
Published: 2020

9. End-of-instrument stiffness perception device based on sensory augmentation for laparoscopic surgery

Author: Saudrais, Charlélie, Bayle, Bernard, Vitrani, Marie-Aude, Vérité, Fabien, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Automatique, Vision et Robotique [Strasbourg] (AVR), Laboratoire des Sciences de l'Image, de l'Informatique et de la Télédétection (LSIIT), Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS), and univOAK, Archive ouverte
Subjects: [SPI]Engineering Sciences [physics], Stiffness perception, Sensory augmentation, Tactile feedback, [INFO.INFO-IM] Computer Science [cs]/Medical Imaging, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, Haptics, Laparoscopic surgery
Abstract: International audience
Published: 2022

10. Improving upper-limb and trunk kinematics by interactive gaming in individuals with chronic stroke: a single-blinded RCT

Author: Maxime Térémetz, Alicia Garcia Alvarez, Sylvain Hanneton, Agnès Roby-Brami, Nicolas Roche, Djamel Bensmail, Påvel Lindberg, Johanna V.G. Robertson, Institut de psychiatrie et neurosciences de Paris (IPNP - U1266 Inserm), Institut National de la Santé et de la Recherche Médicale (INSERM)-Université de Paris (UP), Handicap neuromusculaire : Physiopathologie, Biothérapie et Pharmacologies appliquées (END-ICAP), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut des Sciences du Sport-Santé de Paris (I3SP - URP3625), Université de Paris (UP), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Hôpital Raymond Poincaré [AP-HP], Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Paris Cité (UPCité), Université de Versailles Saint-Quentin-en-Yvelines - UFR Sciences de la santé Simone Veil (UVSQ Santé), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Université Paris Cité (UPCité), This study was funded by a PHRIP grant from APHP., and Martinez Rico, Clara
Subjects: [SDV.IB] Life Sciences [q-bio]/Bioengineering, elbow extension, Rehabilitation, Stroke Rehabilitation, compensatory strategies, Biomechanical Phenomena, Upper Extremity, wii-therapy, Stroke, Treatment Outcome, Video Games, trunk movement, Humans, Brain Damage, Chronic, Orthopedics and Sports Medicine, [SDV.NEU]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], [SDV.IB]Life Sciences [q-bio]/Bioengineering, [SDV.NEU] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], gaming
Abstract: International audience; Background: . Commercial gaming systems are increasingly being used for stroke rehabilitation; however, their effect on upper-limb recovery versus compensation is unknown.Objectives: . We aimed to compare the effect of upper-limb rehabilitation using interactive gaming (Nintendo Wii) with dose-matched conventional therapy on elbow extension (recovery) and forward trunk motion (compensation) in individuals with chronic stroke. Secondary aims were to compare the effect on 1) clinical tests of impairment and activity, pain and effort, and 2) trajectory kinematics. We also explored arm and trunk motion (acceleration) during Wii sessions to understand how participants performed movements during Wii gaming.Methods: . This single-centre, randomized controlled trial compared 12 hourly sessions over 4 weeks of upper-limb Wii therapy to conventional therapy. Outcomes were evaluated at baseline and 4 weeks. The change in elbow extension and trunk motion during a reaching task was evaluated by electromagnetic sensors. Secondary outcomes were change in Fugl-Meyer assessment, Box and Block test, Action Research Arm Test, Motor Activity Log, and Stroke Impact Scale scores. Arm and trunk acceleration during Wii therapy was evaluated by using inertial sensors. A healthy control group was included for reference data.Results: . Nineteen participants completed Wii therapy and 21 conventional therapy (mean [SD] time post-stroke 66.4 [57.2] months). The intervention and control groups did not differ in mean change in elbow extension angle (Wii: +4.5°, 95% confidence interval [CI] 0.1; 9.1; conventional therapy: +6.4°, 95%CI 0.6; 12.2) and forward trunk position (Wii: -3.3 cm, 95%CI -6.2;-0.4]; conventional therapy: -4.1 cm, 95%CI -6.6; -1.6) (effect size: elbow, d=0.16, p=0.61; trunk, d=0.13, p=0.65). Clinical scores improved similarly but to a small extent in both groups. The amount of arm but not trunk acceleration produced during Wii sessions increased with training.Conclusions: . Supervised upper-limb gaming therapy induced similar recovery of elbow extension as conventional therapy and did not enhance the development of compensatory forward trunk movement in individuals with chronic stroke. More sessions may be necessary to induce greater improvements.
Published: 2021

11. Surgical Video Summarization: Multifarious Uses, Summarization Process and Ad-Hoc Coordination

Author: Geoffroy Canlorbe, Sheida Nozari, Yvonne Jansen, Ignacio Avellino, Sorbonne Université (SU), Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Pathologies biliaires, fibrose et cancer du foie [CHU Saint-Antoine], Centre de Recherche Saint-Antoine (CR Saint-Antoine), Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Saint-Antoine [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Saint-Antoine [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Service de Gynécologie-Obstétrique, Maternité, Chirurgie Gynécologique [CHU Pitié-Salpêtrière], CHU Pitié-Salpêtrière [AP-HP], Interactions Multi-échelles, Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Centre de Recherche Saint-Antoine (CRSA), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU), and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)
Subjects: Computer Networks and Communications, Computer science, Process (engineering), ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, Artifact (software development), computer.software_genre, Field (computer science), video summarization, 0202 electrical engineering, electronic engineering, information engineering, 0501 psychology and cognitive sciences, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], 050107 human factors, Multimedia, 05 social sciences, 020207 software engineering, coordination mechanisms, Live action, 16. Peace & justice, Automatic summarization, minimally-invasive surgery, Human-Computer Interaction, video summary, endoscopic video, Work (electrical), Patient communication, computer, Social Sciences (miscellaneous)
Abstract: International audience; While surgical videos are valuable support material for activities around surgery, their summarization demands great amounts of time from surgeons, resulting in the production of very few videos. We study the practices involving surgical video to motivate and inform the future design of tools for their summarization. Through interviews and observations in a field study, we find that (1) video summaries provide an important support for surgery, being used for self-improvement, education, discussing cases, scientific research, patient communication and as legal resources; (2) video summarization follows a process hindered by the loss of knowledge that originates during recording; and, (3) surgeons develop ad-hoc coordination strategies which involve using the video itself for articulation work, making it both the field of work and coordination artifact. We discuss ways in which tools can facilitate capturing knowledge during live action using these strategies.
Published: 2021

12. Cognitive processes and a Centre-of-Pressure error-based moving light-touch Biofeedback

Author: Fabien Verite, Wael Bachta, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Gestionnaire, Hal Sorbonne Université, Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Male, 0301 basic medicine, biofeedback, medicine.medical_specialty, Computer science, Movement, medicine.medical_treatment, [SDV]Life Sciences [q-bio], Sensory system, Biofeedback, Somatosensory system, Motion (physics), Fingers, 03 medical and health sciences, Cognition, 0302 clinical medicine, Physical medicine and rehabilitation, light touch, medicine, Humans, Postural Balance, Vision, Ocular, Balance (ability), General Neuroscience, Cognitive flexibility, Biofeedback, Psychology, Proprioception, [SDV] Life Sciences [q-bio], 030104 developmental biology, voluntary control, Touch, Female, 030217 neurology & neurosurgery, cognitive processes, Center of pressure (fluid mechanics)
Abstract: International audience; Lightly touching an earth-fixed external surface with the forefinger provides somatosensory information that reduces the Center of Pressure (CoP) oscillations. If this surface were to move slowly, the Central Nervous System (CNS) would misinterpret its movement as body self-motion, and involuntary compensatory sway responses would appear, resulting in a significant coupling between finger and CoP motions. We designed a forefinger moving light-touch biofeedback based on this finding, which controls the surface velocity to drive the CoP towards a target position. Here, we investigate this biofeedback resistance to cognitive processes. In addition to a baseline, the experimental protocol includes four main conditions. In the first, participants were utterly naive about the feedback. Then, they received additional reliable sensory information. The third condition ensured their full awareness of the external nature of the surface motion. Finally, the experimenter notified them that the external motion drives their balance and asked them to reject its influence. Our investigation shows that despite the robustness of the proposed biofeedback, light-touch remains penetrable by cognitive processes. For participants to dramatically reduce the existing coupling between the finger and CoP motions, they should be aware of the external motion, how it impacts sway, and actively reject its influence. The main implication of our findings is that light-touch exhibits the same cognitive flexibility as vision when artificially stimulated. This could be interpreted as a defense mechanism to re-weight these two sensory inputs in a moving environment.
Published: 2021

13. Le dessin, trace géométrique du mouvement humain

Author: Roby-Brami, Agnès, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Agnès Callu, Jacques André, Roby-Brami, Agnes, Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [SCCO.NEUR]Cognitive science/Neuroscience, [SCCO.NEUR] Cognitive science/Neuroscience, ComputingMilieux_MISCELLANEOUS
Abstract: International audience
Published: 2021

14. Impairment and Compensation in Dexterous Upper-Limb Function After Stroke. From the Direct Consequences of Pyramidal Tract Lesions to Behavioral Involvement of Both Upper-Limbs in Daily Activities

Author: Ross Parry, Agnès Roby-Brami, Nathanaël Jarrassé, HAL-SU, Gestionnaire, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Laboratoire Interdisciplinaire en Neurosciences, Physiologie et psychologie (LINP2), Université Paris Nanterre (UPN), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: medicine.medical_specialty, Activities of daily living, Process (engineering), medicine.medical_treatment, [SDV]Life Sciences [q-bio], Neurosciences. Biological psychiatry. Neuropsychiatry, Review, rehabilitation, 03 medical and health sciences, Behavioral Neuroscience, recovery, 0302 clinical medicine, Physical medicine and rehabilitation, medicine, Neurostimulation, Biological Psychiatry, 030304 developmental biology, 0303 health sciences, Pyramidal tracts, Rehabilitation, Mechanism (biology), activity, stroke, [SDV] Life Sciences [q-bio], Psychiatry and Mental health, Neuropsychology and Physiological Psychology, medicine.anatomical_structure, Neurology, disability, physiopathologic mechanism, Motor learning, Psychology, 030217 neurology & neurosurgery, Neuroscience, Gesture, RC321-571
Abstract: International audience; Impairments in dexterous upper limb function are a significant cause of disability following stroke. While the physiological basis of movement deficits consequent to a lesion in the pyramidal tract is well demonstrated, specific mechanisms contributing to optimal recovery are less apparent. Various upper limb interventions (motor learning methods, neurostimulation techniques, robotics, virtual reality, and serious games) are associated with improvements in motor performance, but many patients continue to experience significant limitations with object handling in everyday activities. Exactly how we go about consolidating adaptive motor behaviors through the rehabilitation process thus remains a considerable challenge. An important part of this problem is the ability to successfully distinguish the extent to which a given gesture is determined by the neuromotor impairment and that which is determined by a compensatory mechanism. This question is particularly complicated in tasks involving manual dexterity where prehensile movements are contingent upon the task (individual digit movement, grasping, and manipulation…) and its objective (placing, two step actions…), as well as personal factors (motivation, acquired skills, and life habits…) and contextual cues related to the environment (presence of tools or assistive devices…). Presently, there remains a lack of integrative studies which differentiate processes related to structural changes associated with the neurological lesion and those related to behavioral change in response to situational constraints. In this text, we shall question the link between impairments, motor strategies and individual performance in object handling tasks. This scoping review will be based on clinical studies, and discussed in relation to more general findings about hand and upper limb function (manipulation of objects, tool use in daily life activity). We shall discuss how further quantitative studies on human manipulation in ecological contexts may provide greater insight into compensatory motor behavior in patients with a neurological impairment of dexterous upper-limb function.
Published: 2021

15. Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture

Author: Nathanaël Jarrassé, Alexis Poignant, Guillaume Morel, Mathilde Legrand, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU), ANR-18-CE19-0004,BYCEPS,Prothèse robotique contrôlée par le corps pour les amputés transhuméraux(2018), Jarrasse, Nathanael, APPEL À PROJETS GÉNÉRIQUE 2018 - Prothèse robotique contrôlée par le corps pour les amputés transhuméraux - - BYCEPS2018 - ANR-18-CE19-0004 - AAPG2018 - VALID, Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Kinematic chain, 0209 industrial biotechnology, Computer science, business.industry, Orientation (computer vision), 02 engineering and technology, Kinematics, Wrist, Task (project management), [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, medicine.anatomical_structure, Real-time Control System, Redundancy (engineering), medicine, Robot, Computer vision, Artificial intelligence, business, psychological phenomena and processes
Abstract: International audience; When the arm prosthesis worn by an amputated Human being is not adequately configured with respect to the end-effector task, body compensations are often observed. Namely, to compensate for a wrong joint positioning on the robotic distal side, a subject trying to reach a desired position/orientation of his/her hand mobilizes his/her proximal joints, thus exploiting the redundancy of the human+robot kinematic chain. In this paper, we explore the possibility of exploiting this well-known behavior to reverse the causality: if we observe the posture of an amputated subject wearing a prosthesis during a hand positioning task, to what extent can we infer the positioning error of the prosthesis? To answer this question, we make the assumption that the adequate, or natural posture for a given task is one that optimizes a postural score. The proposed approach then consists in i) measuring the joint posture of the subject fitted with the prosthesis; ii) search for an alternative posture that optimizes a postural score within the null space of the human+robot kinematic chain and iii) compute the position error for the robot joints between the initial and the optimized posture. An experimental evaluation is provided with non amputated subjects who emulate erratic positioning of their distal joints during hand positioning tasks. Results show that joint errors are estimated with a precision that seems compatible with the implementation of a real time control algorithm.
Published: 2021

16. A closed-loop and ergonomic control for prosthetic wrist rotation

Author: Nathanaël Jarrassé, Florian Richer, Mathilde Legrand, Guillaume Morel, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Legrand, Mathilde
Subjects: 030506 rehabilitation, Computer science, medicine.medical_treatment, Human factors and ergonomics, Wrist, Prosthesis, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 0302 clinical medicine, medicine.anatomical_structure, Robustness (computer science), Human–computer interaction, Control system, medicine, 0305 other medical science, Closed loop, 030217 neurology & neurosurgery
Abstract: International audience; Beyond the ultimate goal of prosthetics, repairing all the capabilities of amputees, the development line of upper-limb prostheses control mainly relies on three aspects: the robustness, the intuitiveness and the reduction of mental fatigue. Many complex structures and algorithms are proposed but no one question a common open-loop nature, where the user is the one in charge of correcting errors. Yet, closing the control loop at the prosthetic level may help to improve the three main lines of research cited above. One major issue to build a closed-loop control is the definition of a reliable error signal; this paper proposes to use body compensations, naturally exhibited by prostheses users when the motion of their device is inaccurate, as such. The described control scheme measures these compensatory movements and makes the prosthesis move in order to bring back the user into an ergonomic posture. The function of the prosthesis is no longer to perform a given motion but rather to correct the posture of its user while s/he focus on performing an endpoint task. This concept was validated and compared to a standard open-loop scheme, for the control of a prosthetic wrist, with five healthy subjects completing a dedicated task with a customized transradial prosthesis. Results show that the presented closed-loop control allows for more intuitiveness and less mental burden without enhancing body compensation.
Published: 2020

17. Multimodal and Mixed Control of Robotic Endoscopes

Author: Gilles Bailly, Geoffroy Canlorbe, Mario Arico, Ignacio Avellino, Guillaume Morel, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Interactions Multi-échelles, Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU), Service de Gynécologie-Obstétrique, Maternité, Chirurgie Gynécologique [CHU Pitié-Salpêtrière], CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Pathologies biliaires, fibrose et cancer du foie [CHU Saint-Antoine], Centre de Recherche Saint-Antoine (CR Saint-Antoine), Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Saint-Antoine [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Saint-Antoine [AP-HP], ANR Labex CAMI, ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Service de Gynécologie et Obstétrique [Groupe Hospitalier Pitié-Salpêtrière], CHU Pitié-Salpêtrière [APHP], Pathologies biliaires, fibrose et cancer du foie (Inserm UMR_S 938), CHU Saint-Antoine [APHP]-Centre de Recherche Saint-Antoine (CR Saint-Antoine), Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU), ANR-11-LABX-0004/11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011), Pathologies biliaires, fibrose et cancer du foie [CRSA], Centre de Recherche Saint-Antoine (CRSA), and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU)
Subjects: Robotic Endoscope Manipulator, Endoscope, Computer science, 05 social sciences, Control (management), 020207 software engineering, 02 engineering and technology, Minimally Invasive Surgery, Mixed-Initiative Interfaces, Domain (software engineering), Human–computer interaction, 0202 electrical engineering, electronic engineering, information engineering, 0501 psychology and cognitive sciences, Relevance (information retrieval), [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], human activities, 050107 human factors, ComputingMilieux_MISCELLANEOUS
Abstract: Bedside robotic endoscopes render surgeons autonomous from assistants, potentially improving surgical outcome and decreasing costs. Why then have they not been widely adopted? We take a step back and first characterize classic (non-robotic) endoscope use through observations, literature and a domain expert interview. We review the literature on bedside robotic endoscopes and find that existing controls, individually, do not have the power to support both intended and appropriated endoscope uses. We thus explore combining controls to support this diversity of uses. Through an iterative cycle, we design and implement a multimodal and mixed-initiative technique that combines two user controls and one system control. Our evaluations confirm that individual controls do not satisfy the diversity of endoscope uses, and also that our technique indeed does so. Our work highlights the relevance of HCI research in the medical domain through robotic systems.
Published: 2020

18. Orientation of the Head and Trunk During Functional Upper Limb Movement

Author: Roby-Brami, Agnès, Lefèvre Colau, Marie-Martine, Parry, Ross, Acapo, Sessi, Rannou, Francois, Roren, Alexandra, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service de rééducation et de réadaptation de l'appareil locomoteur et des pathologies du rachis [CHU Cochin], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpital Cochin [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Roby-Brami, Agnes, Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [SDV.MHEP.RSOA] Life Sciences [q-bio]/Human health and pathology/Rhumatology and musculoskeletal system, lcsh:T, [SCCO.NEUR]Cognitive science/Neuroscience, [SCCO.NEUR] Cognitive science/Neuroscience, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], head, neck, trunk, lcsh:Technology, lcsh:QC1-999, lcsh:Chemistry, [SDV.MHEP.RSOA]Life Sciences [q-bio]/Human health and pathology/Rhumatology and musculoskeletal system, kinematics, 3d orientation, lcsh:Biology (General), lcsh:QD1-999, lcsh:TA1-2040, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], musculoskeletal disorders, lcsh:Engineering (General). Civil engineering (General), lcsh:QH301-705.5, ComputingMilieux_MISCELLANEOUS, lcsh:Physics
Abstract: Upper limb activities imply positioning of the head with respect to the visual target and may impact trunk posture. However, the postural constraints imposed on the neck remains unclear. We used kinematic analysis to compare head and trunk orientation during arm movements (pointing) with isolated movements of the head (heading). Ten right-handed healthy adults completed both experimental tasks. In the heading task, subjects directed their face toward eight visual targets placed over a wide frontal workspace. In the pointing task, subjects pointed to the same targets (each with their right arm). Movements were recorded using an electromagnetic spatial tracking system. Both orientation of the head and trunk in space (Euler angles) and orientation of the head relative to the trunk were extracted. The orientation of the head in space was closely related to target direction during both tasks. The trunk was relatively stable during heading but contributed to pointing, with leftward axial rotation. These findings illustrate that the neck compensates for trunk rotation during pointing, engaging in specific target-dependent 3D movement in order to preserve head orientation in space. Future studies may investigate neck kinematics of people experiencing neck pain in order to identify and correct inefficient movement patterns, particularly in athletes.
Published: 2020

19. L’ambivalence de l’enchantement prothétique contemporain

Author: Gourinat, Valentine, Groud, Paul-Fabien, Jarrasse, Nathanael, Jarrasse, Nathanael, Valentine Gourinat, Paul-Fabien Groud, Nathanaël Jarrassé, Sciences et Société, Historicité, Éducation et Pratiques (EA S2HEP), École normale supérieure - Lyon (ENS Lyon)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon, Université Claude Bernard Lyon 1 (UCBL), Université de Lyon, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), École normale supérieure de Lyon (ENS de Lyon)-Université Claude Bernard Lyon 1 (UCBL), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU), and Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: [SHS.ANTHRO-SE] Humanities and Social Sciences/Social Anthropology and ethnology, [SHS.SOCIO]Humanities and Social Sciences/Sociology, [SHS.SOCIO] Humanities and Social Sciences/Sociology, [SHS.ANTHRO-SE]Humanities and Social Sciences/Social Anthropology and ethnology, ComputingMilieux_MISCELLANEOUS
Abstract: International audience
Published: 2020

20. Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification

Author: Etienne Burdet, Sami Haddadin, Yanan Li, Gowrishankar Ganesh, Nathanaël Jarrassé, Alin Albu-Schaeffer, Imperial College London, Joint Robotics Laboratory [France] (CNRS-AIST JRL), National Institute of Advanced Industrial Science and Technology (AIST)-Centre National de la Recherche Scientifique (CNRS), Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), DLR Institute of Robotics and Mechatronics, Deutsches Zentrum für Luft- und Raumfahrt [Oberpfaffenhofen-Wessling] (DLR), Commission of the European Communities, Jarrasse, Nathanael, Joint Robotics Laboratory (CNRS-AIST JRL ), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Technology, 0209 industrial biotechnology, Adaptive control, Computer science, iterative learning control, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Contact force, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Control theory, 0801 Artificial Intelligence and Image Processing, contact tasks, Torque, UNSTABLE DYNAMICS, Electrical and Electronic Engineering, ROBOT MANIPULATORS, ADAPTATION, robot control, Haptic technology, ENVIRONMENT, Science & Technology, Iterative learning control, Robotics, force control, Computer Science Applications, Robot control, 0906 Electrical and Electronic Engineering, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Industrial Engineering & Automation, Control and Systems Engineering, Trajectory, biological systems control, TORQUE, 030217 neurology & neurosurgery, 0913 Mechanical Engineering
Abstract: International audience; Humans can skilfully use tools and interact with the environment by adapting their movement trajectory, contact force, and impedance. Motivated by the human versatility, we develop here a robot controller that concurrently adapts feedforward force, impedance, and reference trajectory when interacting with an unknown environment. In particular, the robot's reference trajectory is adapted to limit the interaction force and maintain it at a desired level, while feedforward force and impedance adaptation compensates for the interaction with the environment. An analysis of the interaction dynamics using Lyapunov theory yields the conditions for convergence of the closed-loop interaction mediated by this controller. Simulations exhibit adaptive properties similar to human motor adaptation. The implementation of this controller for typical interaction tasks including drilling, cutting, and haptic exploration shows that this controller can outperform conventional controllers in contact tooling.
Published: 2018

21. Modulation of ellipses drawing by sonification

Author: Emmanuel Guigon, Eric O. Boyer, Agnès Roby-Brami, Sylvain Hanneton, Frédéric Bevilacqua, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sciences et Technologies de la Musique et du Son (STMS), Institut de Recherche et Coordination Acoustique/Musique (IRCAM)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut des Sciences du Sport-Santé de Paris (I3SP - URP3625), Université de Paris (UP), Interaction Son Musique Mouvement, Institut de Recherche et Coordination Acoustique/Musique (IRCAM)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche et Coordination Acoustique/Musique (IRCAM)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Université Paris Cité (UPCité), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Gestionnaire, HAL Sorbonne Université 5
Subjects: Adult, Male, Acoustics, Kinematics, Motor Activity, Pink noise, Ellipse, 050105 experimental psychology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Perimeter, 03 medical and health sciences, Young Adult, 0302 clinical medicine, Rhythm, Feedback, Sensory, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Humans, 0501 psychology and cognitive sciences, Pitch Perception, Mathematics, Auditory feedback, General Neuroscience, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], 05 social sciences, speed-curvature, [SPI.AUTO] Engineering Sciences [physics]/Automatic, audio feedback, Sonification, kinematics, Time Perception, Trajectory, Auditory Perception, speed control, Female, 030217 neurology & neurosurgery, Psychomotor Performance
Abstract: International audience; Most studies on the regulation of speed and trajectory during ellipse drawing have used visual feedback. We used on-line auditory feedback (sonification) to induce implicit movement changes independently from vision. The sound was produced by filtering a pink noise with a bandpass filter proportional to movement speed. The first experiment was performed in 2D. Healthy participants were asked to repetitively draw ellipses during 45 second-trials whilst maintaining a constant sonification pattern (involving pitch variations during the cycle). Perturbations were produced by modifying the slope of the mapping without informing the participants. All participants adapted spontaneously their speed: they went faster if the slope decreased and slower if it increased. Higher velocities were achieved by increasing both the frequency of the movements and the perimeter of the ellipses, but slower velocities were achieved only by decreasing the perimeter of the ellipses. The shape and the orientation of the ellipses were not significantly altered. The analysis of the speed-curvature power-law parameters showed consistent modulations of the speed gain factor, while the exponent remained stable. The second experiment was performed in 3D and showed similar results, except that the main orientation of the ellipse also varied with the changes in speed. In conclusion this study demonstrated implicit modulation of movement speed by sonification and robust stability of the ellipse geometry. Participants appeared to limit the decrease in movement frequency during slowing down in order to maintain a rhythmic and not discrete motor regimen.
Published: 2019

22. GazeLens: Guiding Attention to Improve Gaze Interpretation in Hub-Satellite Collaboration

Author: Cédric Fleury, Ignacio Avellino, Khanh-Duy Le, Morten Fjeld, Andreas Kunz, Chalmers University of Technology [Göteborg], Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Recherche en Informatique (LRI), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Extreme Interaction (EX-SITU), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology in Zürich [Zürich] (ETH Zürich), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), CentraleSupélec-Université Paris-Sud - Paris 11 (UP11)-Centre National de la Recherche Scientifique (CNRS), CentraleSupélec-Université Paris-Sud - Paris 11 (UP11)-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Sud - Paris 11 (UP11)-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology [Zürich] (ETH Zürich), David Lamas, Fernando Loizides, Lennart Nacke, Helen Petrie, Marco Winckler, Panayiotis Zaphiris, and TC 13
Subjects: Computer science, Interpretation (philosophy), Interface (computing), 05 social sciences, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 020207 software engineering, 02 engineering and technology, computer.software_genre, Gaze, Videoconferencing, Remote collaboration, Human–computer interaction, Telepresence, Lens widgets, 0202 electrical engineering, electronic engineering, information engineering, Table (database), ComputingMilieux_COMPUTERSANDSOCIETY, 0501 psychology and cognitive sciences, Satellite, [INFO]Computer Science [cs], [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], computer, 050107 human factors, ComputingMilieux_MISCELLANEOUS
Abstract: Part 4: Eye-Gaze Interaction; International audience; In hub-satellite collaboration using video, interpreting gaze direction is critical for communication between hub coworkers sitting around a table and their remote satellite colleague. However, 2D video distorts images and makes this interpretation inaccurate. We present GazeLens, a video conferencing system that improves hub coworkers’ ability to interpret the satellite worker’s gaze. A $360^{\circ }$360∘ camera captures the hub coworkers and a ceiling camera captures artifacts on the hub table. The system combines these two video feeds in an interface. Lens widgets strategically guide the satellite worker’s attention toward specific areas of her/his screen allow hub coworkers to clearly interpret her/his gaze direction. Our evaluation shows that GazeLens (1) increases hub coworkers’ overall gaze interpretation accuracy by $25.8\%$25.8% in comparison to a conventional video conferencing system, (2) especially for physical artifacts on the hub table, and (3) improves hub coworkers’ ability to distinguish between gazes toward people and artifacts. We discuss how screen space can be leveraged to improve gaze interpretation.
Published: 2019

23. A surgical Cockpit for Minimally Invasive Surgeryi: Hamlyn Symposium 2019 - Surgical Robot Challenge Finalists

Author: Aricò, Mario, Da Silva, Jimmy, Joseph, Lucas, Avellino, Ignacio, Gauthier, Philippe, Mago, Jesus, Ferrier-Barbut, Eleonore, Morel, Guillaume, Vitrani, Marie-Aude, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université, ANR-11-LABX-0004,CAMI,Labex CAMI, Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), and ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011)
Subjects: [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Published: 2019

24. Online minimization of the projected mass of a robot for safe workspace sharing with a human

Author: Lucas Joseph, Vincent Padois, Guillaume Morel, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Augmenter l'humain par CoboT pour n Usage en Symbiose (AUCTUS), Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Padois, Vincent, Augmenting human comfort in the factory using cobots (AUCTUS), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut Polytechnique de Bordeaux (Bordeaux INP), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: Apparent mass, pHRC, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Redundant robot, Kinetic energy, ComputingMilieux_MISCELLANEOUS
Abstract: International audience
Published: 2019

25. Using Comanipulation with Active Force Feedback to Undistort Stiffness Perception in Laparoscopy

Author: Ignacio Avellino, Olivier Piccin, Bernard Bayle, Guillaume Morel, Jimmy Da Silva, Josue Sulub, Laurent Barbé, François G. Schmitt, Université de Strasbourg (UNISTRA), Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Matériaux et nanosciences d'Alsace, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), and Avellino, Ignacio
Subjects: Laparoscopic surgery, 0209 industrial biotechnology, Lever, business.product_category, 020205 medical informatics, medicine.diagnostic_test, Computer science, medicine.medical_treatment, media_common.quotation_subject, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Informatique [cs]/Robotique [cs.RO], Stiffness, 02 engineering and technology, 020901 industrial engineering & automation, Active force, Perception, 0202 electrical engineering, electronic engineering, information engineering, medicine, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], medicine.symptom, business, Laparoscopy, Simulation, ComputingMilieux_MISCELLANEOUS, media_common
Abstract: Surgeons performing laparoscopic surgery expe-rience distortion when perceiving the stiffness of a patient’s tis-sues. This is due to the lever effect induced by the introductionof instruments in their patient’s body through a fulcrum. Toaddress this problem, we propose to use the comanipulationparadigm. A robotic device is connected to the handle of theinstrument while simultaneously being held by the surgeon.This device applies a force on the handle that reflects the forcemeasured at the tool tip, with a gain that depends on the leverratio. The implementation of this method is presented on anexperimental setup and a preliminary assessment experimentis presented.
Published: 2019

26. Impacts of Telemanipulation in Robotic Assisted Surgery

Author: Geoffroy Canlorbe, Ignacio Avellino, Guillaume Morel, Gilles Bailly, Marie-Aude Vitrani, Jérémie Belgihti, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU), Service de Gynécologie et Obstétrique [Groupe Hospitalier Pitié-Salpêtrière], CHU Pitié-Salpêtrière [APHP], Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Interactions Multi-échelles, Service de Gynécologie-Obstétrique, Maternité, Chirurgie Gynécologique [CHU Pitié-Salpêtrière], CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)
Subjects: Computer science, 05 social sciences, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 020207 software engineering, Robotic Assisted Surgery, 02 engineering and technology, Minimally Invasive Surgery, Robotic assisted surgery, da Vinci, surgical procedures, operative, Work (electrical), Invasive surgery, 0202 electrical engineering, electronic engineering, information engineering, Robot, 0501 psychology and cognitive sciences, Operations management, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], 050107 human factors, ComputingMilieux_MISCELLANEOUS
Abstract: Robotic-assisted Minimally Invasive Surgery (MIS) is adopted more and more as it overcomes the shortcomings of classic MIS for surgeons while keeping the benefits of small incisions for patients. However, introducing new technology oftentimes affects the work of skilled practitioners. Our goals are to investigate the impacts of telemanipulated surgical robots on the work practices of surgical teams and to understand their cause. We conducted a field study observing 21 surgeries, conducting 12 interviews and performing 3 data validation sessions with surgeons. Using Thematic Analysis, we find that physically separating surgeons from their teams makes them more autonomous, shifts their use of perceptual senses, and turns the surgeon's assistant into the robot's assistant. We open design opportunities for the HCI field by questioning the telemanipulated approach and discussing alternatives that keep surgeons on the surgical field.
Published: 2019

27. Effects of Hand Configuration on the Grasping, Holding, and Placement of an Instrumented Object in Patients With Hemiparesis

Author: Parry, Ross, Macias Soria, Sandra, Pradat-Diehl, Pascale, Marchand-Pauvert, Véronique, Jarrassé, Nathanaël, Roby-Brami, Agnès, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche sur le Sport et le Mouvement (CeRSM), Université Paris Nanterre (UPN), Service de médecine physique et de réadaptation [CHU Pitié-Salpêtrière], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Sorbonne Université (SU), Laboratoire d'Imagerie Biomédicale (LIB), Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service de Médecine Physique et de Réadaptation [CHU Pitié-Salpêtrière] (MPR), CHU Pitié-Salpêtrière [AP-HP], Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Gestionnaire, Hal Sorbonne Université
Subjects: instrumented objects for rehabilitation, grasp, musculoskeletal, neural, and ocular physiology, assessment, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], stroke, body regions, Neurology, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], [SDV.NEU]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], Neurology (clinical), [SDV.NEU] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], hand function, Original Research
Abstract: International audience; Objective: Limitations with manual dexterity are an important problem for patients suffering from hemiparesis post stroke. Sensorimotor deficits, compensatory strategies and the use of alternative grasping configurations may influence the efficiency of prehensile motor behavior. The aim of the present study is to examine how different grasp configurations affect patient ability to regulate both grip forces and object orientation when lifting, holding and placing an object.Methods: Twelve stroke patients with mild to moderate hemiparesis were recruited. Each was required to lift, hold and replace an instrumented object. Four different grasp configurations were tested on both the hemiparetic and less affected arms. Load cells from each of the 6 faces of the instrumented object and an integrated inertial measurement unit were used to extract data regarding the timing of unloading/loading phases, regulation of grip forces, and object orientation throughout the task.Results: Grip forces were greatest when using a palmar-digital grasp and lowest when using a top grasp. The time delay between peak acceleration and maximum grip force was also greatest for palmar-digital grasp and lowest for the top grasp. Use of the hemiparetic arm was associated with increased duration of the unloading phase and greater difficulty with maintaining the vertical orientation of the object at the transitions to object lifting and object placement. The occurrence of touch and push errors at the onset of grasp varied according to both grasp configuration and use of the hemiparetic arm.Conclusion: Stroke patients exhibit impairments in the scale and temporal precision of grip force adjustments and reduced ability to maintain object orientation with various grasp configurations using the hemiparetic arm. Nonetheless, the timing and magnitude of grip force adjustments may be facilitated using a top grasp configuration. Conversely, whole hand prehension strategies compound difficulties with grip force scaling and inhibit the synchrony of grasp onset and object release.
Published: 2019

28. Closed-Loop Control of the Centre of Pressure in Post-Stroke Patients With Balance Impairments

Author: Véronique Marchand-Pauvert, Pierre-François Pradat, Claire Kemlin, Wael Bachta, Fabien Verite, Pascale Pradat-Diehl, Alain Giron, Institut du Cerveau et de la Moëlle Epinière = Brain and Spine Institute (ICM), Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Laboratoire d'Imagerie Biomédicale (LIB), Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Fédération des Maladies du Système Nerveux, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Sorbonne Université (SU), Service de médecine physique et de réadaptation [CHU Pitié-Salpêtrière], Université Pierre et Marie Curie - Paris 6 (UPMC)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-CHU Pitié-Salpêtrière [AP-HP], Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Département des Maladies du Système Nerveux, CHU Pitié-Salpêtrière [AP-HP], Sorbonne Université-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Physiologie et physiopathologie de la motricité chez l'homme, Université Pierre et Marie Curie - Paris 6 (UPMC)-IFR70-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut du Cerveau = Paris Brain Institute (ICM), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Sorbonne Université (SU)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), BACHTA, Wael, Laboratoire d'Imagerie Biomédicale [Paris] (LIB), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), and ANR-16-CE33-0012,i-Gait,Interactions tactiles pour l'assistance à la marche(2016)
Subjects: Male, biofeedback, 030506 rehabilitation, medicine.medical_specialty, medicine.medical_treatment, Centre of pressure, Posture, Biomedical Engineering, Biofeedback, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Tracking error, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, light touch, Internal Medicine, Medicine, Humans, In patient, ComputingMilieux_MISCELLANEOUS, Balance (ability), Aged, [SDV.IB] Life Sciences [q-bio]/Bioengineering, Rehabilitation, business.industry, General Neuroscience, [SCCO.NEUR]Cognitive science/Neuroscience, Stroke Rehabilitation, centre of pressure, Biofeedback, Psychology, balance, Equipment Design, closed- loop control, Middle Aged, Displacement (psychology), Healthy Volunteers, Biomechanical Phenomena, Stroke, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Vestibular Diseases, Post stroke, Female, [SDV.IB]Life Sciences [q-bio]/Bioengineering, 0305 other medical science, business, 030217 neurology & neurosurgery, Algorithms
Abstract: International audience; When a lightly touched surface is moved according to a closed-loop control law, it has been shown in young adults that the Centre of Pressure (CoP) can be displaced in a controllable way without the conscious cooperation of participants. In this closed-loop paradigm, the surface velocity was continuously adjusted according to the CoP position. Since the closed-loop control of the CoP does not require the participant's voluntary cooperation, it could be of interest for the development of innovative biofeedback devices in balance rehabilitation. Before anticipating the implementation of this closed-loop control paradigm with patients, it is necessary to establish its effects on people suffering from balance impairments. The aim of this study was to assess the effects of this CoP closed-loop control in post-stroke (PS) patients and aged-matched healthy controls. Efficacy of the closed-loop control for driving the patients' CoP was assessed using the saturation time and two scores computing the error between the predefined and the current CoP trajectories. 68% and 83% of the trials were considered as successful in patients and controls, respectively. The global tracking error of the closed-loop score was similar between the two groups. However, when examining the real CoP displacement from the starting position to the desired one, PS patients responded to the closed-loop control to a lesser extent than controls. These results, obtained in the same conditions for healthy and post-stroke individuals could be improved by tuning the closed-loop parameters according to individual characteristics. This study paves the road towards the development of involuntary/automatic biofeedback techniques in more ecological conditions.
Published: 2019

29. Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices

Author: Nathanaël Jarrassé, Florian Richer, Mathilde Legrand, Guillaume Morel, E. de Montalivet, Jarrasse, Nathanael, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Legrand-Lestoille, Mathilde, Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Computer science, [SPI] Engineering Sciences [physics], Kinematics, DUAL (cognitive architecture), Human–robot interaction, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI]Engineering Sciences [physics], medicine.anatomical_structure, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control theory, medicine, Upper limb, Control (linguistics), Adaptation (computer science), Reciprocal, ComputingMilieux_MISCELLANEOUS
Abstract: International audience
Published: 2019

30. Multiparametric Magnetic Resonance Imaging Predicts Postoperative Pathology but Misses Aggressive Prostate Cancers as Assessed by Cell Cycle Progression Score

Author: Morgan Rouprêt, Pierre Mozer, Christophe Vaessen, Marc-Olivier Bitker, Justine Varinot, Geraldine Cancel-Tassin, Eva Comperat, Olivier Cussenot, Olivier Lucidarme, Priscilla Léon, Raphaële Renard-Penna, Institut Universitaire de Cancérologie [Paris] (IUC), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Comité de Cancérologie (CCAFU), Association Française d'Urologie, CHU Pitié-Salpêtrière [AP-HP], Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Service d'Anatomie et cytologie pathologiques [CHU Pitié-Salpêtrière] (ACP), Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Service d'Urologie [CHU Pitié-Salpêtrière], Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Imagerie Biomédicale (LIB), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Service d'urologie [CHU Tenon], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-CHU Tenon [AP-HP], Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Institut Universitaire de Cancérologie [Sorbonne Université] (IUC), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Laboratoire d'Imagerie Biomédicale [Paris] (LIB), and CHU Tenon [AP-HP]
Subjects: Male, Pathology, medicine.medical_specialty, [SDV.IB.IMA]Life Sciences [q-bio]/Bioengineering/Imaging, Urology, medicine.medical_treatment, Statistics as Topic, Radiogenomics, [SDV.MHEP.CHI]Life Sciences [q-bio]/Human health and pathology/Surgery, [SDV.MHEP.UN]Life Sciences [q-bio]/Human health and pathology/Urology and Nephrology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 030218 nuclear medicine & medical imaging, 03 medical and health sciences, Prostate cancer, 0302 clinical medicine, Predictive Value of Tests, Prostate, Humans, Medicine, Neoplasm Invasiveness, Multiparametric Magnetic Resonance Imaging, Aged, Prostatectomy, medicine.diagnostic_test, business.industry, Prostatic Neoplasms, Magnetic resonance imaging, Cell Cycle Checkpoints, Middle Aged, medicine.disease, Tumor Burden, 3. Good health, Gene Expression Regulation, Neoplastic, Prostate-specific antigen, Diffusion Magnetic Resonance Imaging, Logistic Models, medicine.anatomical_structure, 030220 oncology & carcinogenesis, Predictive value of tests, Neoplasm Grading, business
Abstract: We identified prognostic biomarkers in prostate cancer by a radiogenomics strategy that integrates gene expression using the cell cycle progression score and medical images.We obtained institutional review board approval and written informed consent from 106 men with prostate cancer, including 60% at low risk, who underwent multiparametric magnetic resonance imaging before radical prostatectomy was done and a cell cycle progression score was determined. The correlation between the results of multiparametric magnetic resonance imaging and Gleason grade or cell cycle progression score was assessed by logistic regression.Patients with primary Gleason grade greater than 3 had a longer median maximal tumor diameter (13 vs 10 mm) and a lower median apparent diffusion coefficient (0.745 vs 0.88×10(-3) mm2 per second, each p=0.0001) than those with primary Gleason grade 3 or less. Maximal diameter 10 mm or greater (OR 4.9, 95% CI 1.7 to 14.0, p=0.0012) and apparent diffusion coefficient 0.80×10(-3) mm2 per second or less (OR 7.5, 95% CI 3.0 to 18.7, p0.0001) were significantly associated with primary Gleason grade greater than 3. The combined measure of maximal diameter less than 10 mm and apparent diffusion coefficient greater than 0.80×10(-3) mm2 per second identified only index lesions harboring primary Gleason grade 3. However, 7 of those lesions showed a molecular pattern of high risk lethal prostate cancer (cell cycle progression score greater than 0).Multiparametric magnetic resonance imaging is able to predict low and high risk Gleason scores in the tumor. However, the cell cycle progression score did not completely match the imaging result. These findings suggest that management of early stages prostate cancer could strongly benefit by performing magnetic resonance imaging targeted biopsy coupled with molecular analysis.
Published: 2015

31. Phantom-mobility-based prosthesis control in transhumeral amputees without surgical reinnervation: a preliminary study

Author: Jarrassé, Nathanaël, de Montalivet, Etienne, Richer, Florian, Nicol, Caroline, Touillet, Amélie, Martinet, Noël, Paysant, Jean, de Graaf, Jozina B., Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), ANR-15-CE19-0008,PhantoMovControl,Franchir les limites des prothèses myoélectriques de bras: contrôle naturel par mouvements fantômes(2015), ANR-11-IDEX-0004,SUPER,Sorbonne Universités à Paris pour l'Enseignement et la Recherche(2011), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), and Jarrasse, Nathanael
Subjects: Transhumeral amputation, Prosthetics, Phantom limb, lcsh:Biotechnology, [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, Bioengineering and Biotechnology, Voluntary phantom limb mobility, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, lcsh:TP248.13-248.65, Pattern recognition, Myoelectric control, [SDV.IB]Life Sciences [q-bio]/Bioengineering, ComputingMilieux_MISCELLANEOUS, Original Research
Abstract: International audience; Transhumeral amputees face substantial difficulties in efficiently controlling their prosthetic limb, leading to a high rate of rejection of these devices. Actual myoelectric control approaches make their use slow, sequential and unnatural, especially for these patients with a high level of amputation who need a prosthesis with numerous active degrees of freedom (powered elbow, wrist, and hand). While surgical muscle-reinnervation is becoming a generic solution for amputees to increase their control capabilities over a prosthesis, research is still being conducted on the possibility of using the surface myoelectric patterns specifically associated to voluntary Phantom Limb Mobilization (PLM), appearing naturally in most upper-limb amputees without requiring specific surgery. The objective of this study was to evaluate the possibility for transhumeral amputees to use a PLM-based control approach to perform more realistic functional grasping tasks. Two transhumeral amputated participants were asked to repetitively grasp one out of three different objects with an unworn eight-active-DoF prosthetic arm and release it in a dedicated drawer. The prosthesis control was based on phantom limb mobilization and myoelectric pattern recognition techniques, using only two repetitions of each PLM to train the classification architecture. The results show that the task could be successfully achieved with rather optimal strategies and joint trajectories, even if the completion time was increased in comparison with the performances obtained by a control group using a simple GUI control, and the control strategies required numerous corrections. While numerous limitations related to robustness of pattern recognition techniques and to the perturbations generated by actual wearing of the prosthesis remain to be solved, these preliminary results encourage further exploration and deeper understanding of the phenomenon of natural residual myoelectric activity related to PLM, since it could possibly be a viable option in some transhumeral amputees to extend their control abilities of functional upper limb prosthetics with multiple active joints without undergoing muscular reinnervation surgery.
Published: 2018

32. Putting the Coach in the Loop: Improving Practice in Outdoor Activities Through Technology

Author: Avellino, Ignacio, Neustaedter, Carman, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), School of Interactive Arts and Technologies (SIAT), Simon Fraser University (SFU.ca), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: HCI, Expert Feedback, ComputingMilieux_THECOMPUTINGPROFESSION, Wearables, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Sports Tracking, Performance Coaching, Outdoors, InformationSystems_GENERAL, ACM: H.: Information Systems/H.5: INFORMATION INTERFACES AND PRESENTATION (e.g., HCI), HCI-Sorbonne, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], InformationSystems_MISCELLANEOUS, GeneralLiterature_REFERENCE(e.g.,dictionaries,encyclopedias,glossaries), Sports
Abstract: Submitted for the Workshop on HCI Outdoors: Understanding Human-Computer Interaction in the Outdoors at CHI 2018, April 21, 2018, Montréal, Canada
Published: 2018

33. Characterize the transition from menus to hotkeys

Author: Bailly, Gilles, Giannisakis, Emmanouil, Morel, Marion, Achard, Catherine, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Interactions Multi-échelles, Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Université Paris-Saclay, Télécom ParisTech, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU), AFIHM, and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: Menus, Raccourcis clavier, Expertise, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Skill acquisition, Keyboard shortcuts
Abstract: International audience; This paper aims at better understanding the transition from menus to shortcuts. We first discuss the limitations and the opportunities of the theoretical and empirical characterizations of this transition. We then consider keyboard shortcuts as a case study and manually annotate empirical data to estimate several behavioral markers such as the initial switch, the transition duration or the performance dip. These markers serve to precisely characterize and compare three interaction techniques. Finally, we compare two methods to automatically characterize the transition from menus to shortcuts.; Ce papier vise à mieux comprendre la transition des menus vers les raccourcis. Nous discutons d’abord les limitations et les opportuni- tés des caractérisations, théoriques et empiriques, de cette transition. Nous considérons ensuite les raccourcis claviers comme cas d’étude où nous annotons manuellement une collection de données pour estimer des marqueurs comportementaux comme le début de la transition, sa durée ou la chute de performance. Ceci permet de caractériser finement la transition de trois techniques d’interac- tion. Finalement, nous comparons deux méthodes pour caractériser automatiquement la transition des menus vers les raccourcis.
Published: 2018

34. Contributions to the Design of a 6 DoF Contactless Sensor Intended for Intermittent Contact Haptic Interfaces

Author: Florian Gosselin, Wael Bachta, Oscar La De Cruz, Guillaume Morel, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), and Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Orientation (computer vision), Computer science, Acoustics, 020208 electrical & electronic engineering, Detector, 02 engineering and technology, Robotics, Tracking (particle physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Position sensitive detector, Center of gravity, Force feedback interface, Position (vector), 0202 electrical engineering, electronic engineering, information engineering, Light beam, Infrared light emitting diode, ComputingMilieux_MISCELLANEOUS, Haptic technology, Diode
Abstract: The present work introduces a theoretical model and experimental validation of an Emitter-Receptor Slit based system (ERS) that uses an infrared light emitting diode (IRED) and a one-dimensional position sensitive detector (PSD). The radiation generated by the moving IRED passing through a slit creates a light beam which will form a light spot on the PSD photosensitive area. The PSD generates two photocurrents, function of the amount of received power, which values are used to calculate the position of the light spot center of gravity. The proper response modeling and characterization of the described system will help to define the design guidelines for a contactless position and orientation sensor, particularly suitable for local tool tracking in force feedback interfaces.
Published: 2018

35. A simple movement based control approach to ease the control of a myoelectric elbow prosthetics in transhumeral amputees

Author: Florian Richer, D. Müller, Jean Paysant, E. de Montalivet, Amélie Touillet, Noël Martinet, Manelle Merad, Nathanaël Jarrassé, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Jarrasse, Nathanael
Subjects: medicine.medical_specialty, [SDV.BIO]Life Sciences [q-bio]/Biotechnology, Computer science, Elbow, Phantom limb, Wrist, Motion capture, phantom limb, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, Inertial measurement unit, transhumeral amputation, medicine, Orthopedics and Sports Medicine, prosthetics, 030222 orthopedics, voluntary phantom limb mobility Jarrassé et al Phantom-Mobility-Based Prosthesis Control in Transhumeral Amputees, [SCCO.NEUR]Cognitive science/Neuroscience, Rehabilitation, Work (physics), GRASP, [SCCO.NEUR] Cognitive science/Neuroscience, pattern recognition, 030229 sport sciences, medicine.disease, myoelectric control, [SDV.BIO] Life Sciences [q-bio]/Biotechnology, body regions, medicine.anatomical_structure, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Gesture
Abstract: International audience; Transhumeral amputees face substantial difficulties in efficiently controlling their prosthetic limb, leading to a high rate of rejection of these devices. Actual myoelectric control approaches make their use slow, sequential and unnatural, especially for these patients with a high level of amputation who need a prosthesis with numerous active degrees of freedom (powered elbow, wrist, and hand). While surgical muscle-reinnervation is becoming a generic solution for amputees to increase their control capabilities over a prosthesis, research is still being conducted on the possibility of using the surface myoelectric patterns specifically associated to voluntary Phantom Limb Mobilization (PLM), appearing naturally in most upper-limb amputees without requiring specific surgery. The objective of this study was to evaluate the possibility for transhumeral amputees to use a PLM-based control approach to perform more realistic functional grasping tasks. Two transhumeral amputated participants were asked to repetitively grasp one out of three different objects with an unworn eight-active-DoF prosthetic arm and release it in a dedicated drawer. The prosthesis control was based on phantom limb mobilization and myoelectric pattern recognition techniques, using only two repetitions of each PLM to train the classification architecture. The results show that the task could be successfully achieved with rather optimal strategies and joint trajectories, even if the completion time was increased in comparison with the performances obtained by a control group using a simple GUI control, and the control strategies required numerous corrections. While numerous limitations related to robustness of pattern recognition techniques and to the perturbations generated by actual wearing of the prosthesis remain to be solved, these preliminary results encourage further exploration and deeper understanding of the phenomenon of natural residual myoelectric activity related to PLM, since it could possibly be a viable option in some transhumeral amputees to extend their control abilities of functional upper limb prosthetics with multiple active joints without undergoing muscular reinnervation surgery.
Published: 2018

36. Adaptation to the absence of tactile and proprioceptive feedback in object handling

Author: Agnès Roby-Brami, Nathanaël Jarrassé, Fabrice R. Sarlegna, Ross Parry, Institut du Cerveau et de la Moëlle Epinière = Brain and Spine Institute (ICM), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Hôpital Raymond Poincaré [AP-HP], SARLEGNA, Fabrice, Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut National de la Santé et de la Recherche Médicale (INSERM)-CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 030506 rehabilitation, Auditory feedback, medicine.medical_specialty, Object handling, Proprioception, genetic structures, Computer science, Rehabilitation, GRASP, Control subjects, Somatosensory system, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, Cutaneous receptor, medicine, Sensory neuropathy, Orthopedics and Sports Medicine, [SDV.NEU]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], [SDV.NEU] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], 0305 other medical science, 030217 neurology & neurosurgery
Abstract: Introduction/Background Dextrous manipulation necessitates efficient sensorimotor feedback mechanisms to orientate handheld objects, adjust for movement dynamics and respond to perturbations. In particular, cutaneous receptors and proprioception are paramount in the regulation of hand-object interactions (Johansson, 1991; Nowak et al., 2004). This study further examined the object handling skills of a person with massive peripheral deafferentation (consequent to sensory neuropathy) in order to improve knowledge of how people adapt/compensate for the loss of tactile/proprioceptive feedback. Material and method Object handling abilities of a deafferented woman (GL) were compared to eight age-matched control subjects using three experimental tasks: – discrete vertical movements; – functional grasp and place and; – static holding with perturbations (taps) applied to the top of the object—firstly by the person themselves and secondly by the experimenter. Tasks 1 and 3 were performed under full vision and blinded conditions. Grip force and object acceleration/orientation were recorded using a portable, instrumented object. Results When compared to control subjects, GL demonstrated a global increase in grip force with diminished temporal coupling to changes in object acceleration and limited ability to maintain orientation of the handheld object in the absence of visual feedback. All phases of the grasp and place task were of greater duration for GL and a qualitatively distinct acceleration profile was observed. In the hold perturbation tasks, GL exhibited greater time delays between perturbation and grip force response but proved efficient at gauging grip force response with respect to the magnitude of the perturbation. Conclusion Whilst proprioceptive deficits limit temporal precision of grip force adjustments in object handling, visuomotor strategies and auditory feedback may assist in regulating object orientation during functional tasks and grip force scaling during perturbations. Future studies might investigate the feasibility of augmented visual/auditory feedback devices to optimise object handling for people with somatosensory deficits.
Published: 2018

37. Using the body kinematics to assess the utilization of transhumeral prostheses

Author: Nathanaël Jarrassé, Agnès Roby-Brami, E. de Montalivet, Jean Paysant, Amélie Touillet, Noël Martinet, Manelle Merad, M. Lestoille, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Jarrasse, Nathanael
Subjects: 030506 rehabilitation, Motion analysis, medicine.medical_specialty, Computer science, medicine.medical_treatment, Transradial amputation, Kinematics, Wrist, Prosthesis, Motion capture, Task (project management), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, medicine, Orthopedics and Sports Medicine, [INFO.INFO-BT]Computer Science [cs]/Biotechnology, Visual attention, [SCCO.NEUR]Cognitive science/Neuroscience, [SCCO.NEUR] Cognitive science/Neuroscience, Rehabilitation, Trunk, [INFO.INFO-BT] Computer Science [cs]/Biotechnology, [SPI.AUTO] Engineering Sciences [physics]/Automatic, medicine.anatomical_structure, Vibrotactile feedback, Upper limb, 0305 other medical science, 030217 neurology & neurosurgery
Abstract: Introduction/Background There is a gap between the technical capability of upper limb prostheses, and the control strategy (commonly sequential myoelectric control) used to actuate the motorized joints. Surprisingly, the control method is the same for prosthetic hands and hand/wrist/elbow systems, which leads to a complex utilization. Research groups are investigating new control strategies to make the prosthetic control easier. Most studies are focusing on the task achievement, but it is nonetheless essential to assess the achievement method, especially since high-level amputees are prone to develop compensation-related musculoskeletal disorders. The study aims to show that body kinematics can be used to compare different control strategies, or prosthetic equipments. Material and method Transhumeral amputees performed a reaching task with different prosthetic parameters (different sockets, different control strategies). They performed the task with a prosthesis prototype that could be adapted to any socket, and implemented with any control strategy. They were equipped with motion capture sensors in order to record their body kinematics. The body motion analysis included the trunk and shoulder displacements, as well as the weight deviation. Results We could observe that each transhumeral amputee had a unique utilization of their prosthesis, and that they had their own residual capabilities. All the participants performed the task with the two tested control strategies successfully. However, the kinematic analysis showed differences between the control strategies in terms of coordination restauration, that the participants described but that the task assessment (success or not) could not provide. Conclusion Differences could be highlighted between control strategies that the standard assessment method could not show. Hence the whole body kinematics can be a substantial source of information, especially given the potential severity of compensatory strategies in upper limb prosthesis utilization.
Published: 2018

38. Time-series averaging using constrained dynamic time warping with tolerance

Author: Marion Morel, Catherine Achard, Richard Kulpa, Sverine Dubuisson, Institut des Systèmes Intelligents et de Robotique ( ISIR ), Université Pierre et Marie Curie - Paris 6 ( UPMC ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire Mouvement Sport Santé ( M2S ), École normale supérieure - Cachan ( ENS Cachan ) -Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Université de Brest ( UBO ) -Université de Rennes 2 ( UR2 ), Université de Rennes ( UNIV-RENNES ) -Structure Fédérative de Recherche en Biologie et Santé de Rennes ( Biosit : Biologie - Santé - Innovation Technologique ), Analysis-Synthesis Approach for Virtual Human Simulation ( MIMETIC ), Université de Rennes 2 ( UR2 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -MEDIA ET INTERACTIONS ( IRISA_D6 ), Institut de Recherche en Informatique et Systèmes Aléatoires ( IRISA ), Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ) -Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ) -Institut de Recherche en Informatique et Systèmes Aléatoires ( IRISA ), Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Laboratoire Mouvement Sport Santé (M2S), Université de Rennes (UR)-École normale supérieure - Rennes (ENS Rennes)-Université de Brest (UBO)-Université de Rennes 2 (UR2)-Structure Fédérative de Recherche en Biologie et Santé de Rennes ( Biosit : Biologie - Santé - Innovation Technologique ), Analysis-Synthesis Approach for Virtual Human Simulation (MIMETIC), Université de Rennes 2 (UR2)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-MEDIA ET INTERACTIONS (IRISA-D6), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique et Systèmes (LIS), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS), Images et Modèles (I&M), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), École normale supérieure - Cachan (ENS Cachan)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Université de Brest (UBO)-Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Structure Fédérative de Recherche en Biologie et Santé de Rennes ( Biosit : Biologie - Santé - Innovation Technologique ), Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Inria Rennes – Bretagne Atlantique, Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1)
Subjects: 0209 industrial biotechnology, Dynamic time warping, Computer science, 02 engineering and technology, Similarity measure, Time-series averaging, Local constraints, Task (project management), Set (abstract data type), 020901 industrial engineering & automation, Artificial Intelligence, Time-series Classification, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS, Dynamic Time Warping, Series (mathematics), business.industry, SIGNAL (programming language), [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Process (computing), Pattern recognition, Constrained DTW Barycenter Averaging, Range (mathematics), Signal Processing, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Software
Abstract: Averaging of time-series of different lengths.Introducing constraints and tolerance to DBA (DTW Barycenter Averaging).Application on a time-series classification task. In this paper, we propose an innovative averaging of a set of time-series based on the Dynamic Time Warping (DTW). The DTW is widely used in data mining since it provides not only a similarity measure, but also a temporal alignment of time-series. However, its use is often restricted to the case of a pair of signals. In this paper, we propose to extend its application to a set of signals by providing an average time-series that opens a wide range of applications in data mining process. Starting with an existing well-established method called DBA (for DTW Barycenter Averaging), this paper points out its limitations and suggests an alternative based on a Constrained Dynamic Time Warping. Secondly, an innovative tolerance is added to take into account the admissible variability around the average signal. This new modeling of time-series is evaluated on a classification task applied on several datasets and results show that it outperforms state of the art methods.
Published: 2018

39. Can We Achieve Intuitive Prosthetic Elbow Control Based on Healthy Upper Limb Motor Strategies?

Author: Merad, Manelle, de Montalivet, Étienne, Touillet, Amélie, Martinet, Noël, Roby-Brami, Agnès, Jarrassé, Nathanaël, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), HAL UPMC, Gestionnaire, Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [SDV.IB] Life Sciences [q-bio]/Bioengineering, musculoskeletal diseases, prosthetic elbow control, Biomedical Engineering, inter-joint coordination, compensatory strategies, [SPI.AUTO]Engineering Sciences [physics]/Automatic, body regions, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Artificial Intelligence, transhumeral amputation, [SDV.IB]Life Sciences [q-bio]/Bioengineering, upper limb prosthetics, Neuroscience, Original Research
Abstract: International audience; Most transhumeral amputees report that their prosthetic device lacks functionality, citing the control strategy as a major limitation. Indeed, they are required to control several degrees of freedom with muscle groups primarily used for elbow actuation. As a result, most of them choose to have a one-degree-of-freedom myoelectric hand for grasping objects, a myoelectric wrist for pronation/supination, and a body-powered elbow. Unlike healthy upper limb movements, the prosthetic elbow joint angle, adjusted prior to the motion, is not involved in the overall upper limb movements, causing the rest of the body to compensate for the lack of mobility of the prosthesis. A promising solution to improve upper limb prosthesis control exploits the residual limb mobility: like in healthy movements, shoulder and prosthetic elbow motions are coupled using inter-joint coordination models. The present study aims to test this approach. A transhumeral amputated individual used a prosthesis with a residual limb motion-driven elbow to point at targets. The prosthetic elbow motion was derived from IMU-based shoulder measurements and a generic model of inter-joint coordinations built from healthy individuals data. For comparison, the participant also performed the task while the prosthetic elbow was implemented with his own myoelectric control strategy. The results show that although the transhumeral amputated participant achieved the pointing task with a better precision when the elbow was myoelectrically-controlled, he had to develop large compensatory trunk movements. Automatic elbow control reduced trunk displacements, and enabled a more natural body behavior with synchronous shoulder and elbow motions. However, due to socket impairments, the residual limb amplitudes were not as large as those of healthy shoulder movements. Therefore, this work also investigates if a control strategy whereby prosthetic joints are automatized according to healthy individuals' coordination models can lead to an intuitive and natural prosthetic control.
Published: 2018

40. Developmental Trajectories of Hand Movements in Typical Infants and Those at Risk of Developmental Disorders: An Observational Study of Kinematics during the First Year of Life

Author: Ouss, Lisa, Le Normand, Marie-Thérèse, Bailly, Kevin, Leitgel Gille, Marluce, Gosme, Christelle, Simas, Roberta, Wenke, Julia, Jeudon, Xavier, Thepot, Stéphanie, Da Silva, Telma, Clady, Xavier, Thoueille, Edith, Afshar, Mohammad, Golse, Bernard, Guergova-Kuras, Mariana, Le Normand, Marie-Thérèse, Psychiatrie de l'enfant et de l'adolescent [CHU Necker], CHU Necker - Enfants Malades [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Epilepsies de l'Enfant et Plasticité Cérébrale (U1129), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM), Laboratoire de Psychopathologie et Processus de Santé (LPPS - EA 4057), Université Paris Descartes - Paris 5 (UPD5), Institut National de la Santé et de la Recherche Médicale (INSERM), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherches Psychanalyse, Médecine et Société (CRPMS (EA_3522)), Université Paris Diderot - Paris 7 (UPD7), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Ariana Pharmaceuticals (ARIANA), Ariana Pharmaceuticals, Institut de la Vision, Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Fondation Hospitalière Sainte Marie (SAPPH), This work received funding from EADS (European Aeronautic Defence and Space) and Bettencourt Schueller foundations., Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Institut National de la Santé et de la Recherche Médicale (INSERM), Psychiatrie de l'enfant et de l'adolescent [Necker], Assistance publique - Hôpitaux de Paris (AP-HP)-Université Paris Descartes - Paris 5 ( UPD5 ) -Université Sorbonne Paris Cité, Epilepsies de l'Enfant et Plasticité Cérébrale ( U1129 ), Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris Descartes - Paris 5 ( UPD5 ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ), Laboratoire de Psychopathologie et Processus de Santé ( LPPS - EA 4057 ), Université Paris Descartes - Paris 5 ( UPD5 ), Institut National de la Santé et de la Recherche Médicale ( INSERM ), Institut des Systèmes Intelligents et de Robotique ( ISIR ), Université Pierre et Marie Curie - Paris 6 ( UPMC ) -Centre National de la Recherche Scientifique ( CNRS ), Centre de Recherches Psychanalyse, Médecine et Société ( CRPMS EA 3522 ), Université Paris Diderot - Paris 7 ( UPD7 ), Cellule Vidéo de l'Hôpital Necker, Hopital Necker Enfants-Malades-Association A l'Aube de la Vie, Ariana Pharmaceuticals ( ARIANA ), Université Pierre et Marie Curie - Paris 6 ( UPMC ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ) -Centre National de la Recherche Scientifique ( CNRS ), and Fondation Hospitalière Sainte Marie ( SAPPH )
Subjects: [ SDV.NEU ] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], orality disorder, Psychology, infant at risk, visually impaired mother, [SDV.NEU]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], hand movement, west syndrome, developmental trajectories, [SDV.NEU] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], early hospitalization, preterm, Original Research
Abstract: International audience; Highlights. The kinematics of hand movements (spatial use, curvature, acceleration, and velocity) of infants with their mothers in an interactive setting are significantly associated with age in cohorts of typical and at-risk infantsdiffer significantly at 5-6 months of age, depending on the context: relating either with an object or a person.Environmental and developmental factors shape the developmental trajectories of hand movements in different cohorts: environment for infants with VIMs; stage of development for premature infants and those with West syndrome; and both factors for infants with orality disorders.The curvature of hand movements specifically reflects atypical development in infants with West syndrome when developmental age is considered. We aimed to discriminate between typical and atypical developmental trajectory patterns of at-risk infants in an interactive setting in this observational and longitudinal study, with the assumption that hand movements (HM) reflect preverbal communication and its disorders. We examined the developmental trajectories of HM in five cohorts of at-risk infants and one control cohort, followed from ages 2 to 10 months: 25 West syndrome (WS), 13 preterm birth (PB), 16 orality disorder (OD), 14 with visually impaired mothers (VIM), 7 early hospitalization (EH), and 19 typically developing infants (TD). Video-recorded data were collected in three different structured interactive contexts. Descriptors of the hand motion were used to examine the extent to which HM were associated with age and cohort. We obtained four principal results: (i) the kinematics of HM (spatial use, curvature, acceleration, and velocity) were significantly associated with age in all cohorts; (ii) HM significantly differed at 5-6 months of age in TD infants, depending on the context; (iii) environmental and developmental factors shaped the developmental trajectories of HM in different cohorts: environment for VIM, development for PB and WS, and both factors for OD and; (iv) the curvatures of HM showed atypical development in WS infants when developmental age was considered. These findings support the importance of using kinematics of HM to identify very early developmental disorders in an interactive context and would allow early prevention and intervention for at-risk infants.
Published: 2018

41. The SEMAPHORO Haptic Interface: a real-time low-cost open-source implementation for dyadic teleoperation

Author: Lucas Roche, Florian Richer, Ludovic Saint-Bauzel, delmas, kevin, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: [INFO.INFO-CL] Computer Science [cs]/Computation and Language [cs.CL], ComputingMilieux_MISCELLANEOUS, [INFO.INFO-CL]Computer Science [cs]/Computation and Language [cs.CL]
Abstract: International audience
Published: 2018

42. Phantom Movement Training Without Classifier Performance Feedback Improves Mobilization Ability While Maintaining EMG Pattern Classification

Author: Olivier Rossel, Manon Chateaux, Nathanaël Jarrassé, Fabien Vérité, Amélie Touillet, Caroline Nicol, Jean Paysant, Jozina B. De Graaf, Contrôle Artificiel de Mouvements et de Neuroprothèses Intuitives (CAMIN), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), and Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin)
Subjects: Human-Computer Interaction, [SPI]Engineering Sciences [physics], Amputation EMG-classification Feedback Phantom movement training, Control and Optimization, Artificial Intelligence, [SDV]Life Sciences [q-bio], Biomedical Engineering, EMG-classification, Amputation, Feedback, Phantom movement training, Computer Science Applications
Abstract: International audience; Voluntary phantom movements are systematically associated with muscle contractions in the residual limb. These latter are specific to the type of movement and can be classified by pattern recognition algorithms. However, phantom mobility generates fatigue that could impact classification metrics. This study explored whether daily phantom movement training at home with no other feedback than inherent somatosensory information can impact the classification success rate. Kinematics and muscle activity were compared between before and after a two-month home training in six major upper limb amputees. Surface EMG patterns were classified to quantify a potential change in the features space with training. Our results showed that this type of training induces faster, smoother, and richer phantom mobility. However, classification metrics did not change with training. When including the new types of movements achievable after training, accuracy did not decrease, indicating that muscle activation patterns associated with these movements were sufficiently different not to interfere with the already existing movement classes. Thus, although phantom training with only somatosensory feedback increases the overall phantom movement capacity, it does not increase the classification success rate. Yet, it is possible that paired with other forms of feedback, phantom training could improve this success rate.
Published: 2023

43. Stroking trajectory shapes velocity effects on pleasantness and other touch percepts

Author: Annett Schirmer, Clare Cham, Oscar Lai, Thanh-loan Sarah Le, Rochelle Ackerley, Department of Psychology, University of Innsbruck, A-6020 Innsbruck, Austria, Department of Neuropsychology, Max Planck Institute for Human Cognitive and Brain Sciences, Department of Psychology, The Chinese University of Hong Kong, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Neurosciences Cognitives [Marseille] (LNC), and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: affective touch, Behavioral Neuroscience, C-tactile, Arts and Humanities (miscellaneous), Aβ mechanoreceptors, [SHS.PSY]Humanities and Social Sciences/Psychology, Experimental and Cognitive Psychology, stroking
Abstract: Research has identified an inverted u-shaped relationship between stroking velocity and perceived pleasantness. However, the generalizability of this relationship is questionable as much of the work relied on the rotary tactile stimulator (RTS), which strokes skin with force varying along an arc, but confounds stimulus velocity with duration. We explored how these parameters shape the subjective evaluation of touch. In Study 1, one group of participants was stroked by the RTS, while two other groups were stroked by a new robot capable of different types of skin stroking. Participants were stroked at five velocities and rated pleasantness, humanness, intensity, and roughness. In Study 2, participants were stroked by the new robot imitating the movement of the RTS exactly, imitating it while controlling stimulus duration, or moving linearly or ovally with both constant force and duration. Participants rated pleasantness and humanness. Although stroke velocity was related to both pleasantness and humanness in an inverted u-shaped manner, stimulus motion modulated this relationship and the association between velocity and the other ratings. Together, our results clearly link stroking velocity to the perception of touch, but highlight that this relationship is shaped by other parameters such as the duration and spatial trajectory of touch. Public Significance Statement Psychophysical research has identified an inverted u-shaped relationship between a touch's velocity and subjective pleasantness, which has guided current thinking about the processing and benefits of a gentle caress. Here, we show that this relationship depends on aspects of the tactile stimulus that, so far, have been overlooked, including the duration of skin contact and the trajectory of the touch. We find that stroking duration and trajectory shape how stroke velocity modulates subjective pleasantness, humanness, intensity, and roughness. Thus, we identify a need for research to go beyond velocity and to consider other motion features of touch, especially those that approximate human social touch outside the laboratory.
Published: 2023

44. Intuitive control of a prosthetic elbow

Author: Merad, Manelle, de Montalivet, Étienne, Roby-Brami, Agnès, Jarrasse, Nathanael, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Centre National de la Recherche Scientifique (CNRS), Jarrasse, Nathanael, and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: [SPI.AUTO] Engineering Sciences [physics]/Automatic, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience
Published: 2017

45. Learning motor coordination under resistive viscous force fields at the joint level with an upper-limb robotic exoskeleton

Author: Nathanaël Jarrassé, Agnès Roby-Brami, Tommaso Proietti, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorbonne Université (SU), and Jarrasse, Nathanael
Subjects: 0209 industrial biotechnology, Resistive touchscreen, Engineering, business.industry, Powered exoskeleton, Control engineering, 02 engineering and technology, Field (computer science), Task (project management), Motor coordination, Exoskeleton, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0302 clinical medicine, Control theory, Rehabilitation robotics, business, human activities, 030217 neurology & neurosurgery, Simulation, ComputingMilieux_MISCELLANEOUS
Abstract: In the field of rehabilitation robotics, few researchers have been focusing on the problem of controlling motor coordination in post-stroke patients. Studies on coordination learning, when the robotic devices act at the joint level on multiple interaction points, as in the case of exoskeletons, are lacking. For this reason, we studied on 10 healthy subjects the possibility of learning a non-natural inter-joint coordination while performing a pointing task. This coordination was induced by a 4-DOF robotic exoskeleton, applying resistive force fields at the joint level. Preliminary results showed the capability of our controller to modify human healthy natural coordination after exposition to the fields and generalization of these effects to movements which were never exposed to these constraints.
Published: 2017

46. Voluntary phantom hand and finger movements in transhumeral amputees could be used to naturally control polydigital prostheses

Author: Florian Richer, Caroline Nicol, Amélie Touillet, Noël Martinet, Nathanaël Jarrassé, Jean Paysant, Jozina B. De Graaf, Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut Régional de Médecine Physique et de Réadaptation [Nancy] (IRR), Jarrasse, Nathanael, Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: Male, Signal Processing (eess.SP), 030506 rehabilitation, Engineering, [SDV.MHEP.PHY] Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], medicine.medical_treatment, Robotic hand, Pilot Projects, Hand movements, Pattern Recognition, Automated, 0302 clinical medicine, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Tissues and Organs (q-bio.TO), ComputingMilieux_MISCELLANEOUS, Signal Processing, Computer-Assisted, Middle Aged, medicine.anatomical_structure, Research Design, Female, Neurons and Cognition (q-bio.NC), 0305 other medical science, Algorithms, Adult, medicine.medical_specialty, [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, Phantom limb, FOS: Physical sciences, Artificial Limbs, Thumb, Imaging phantom, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Fingers, 03 medical and health sciences, Finger movement, Physical medicine and rehabilitation, Amputees, medicine, FOS: Electrical engineering, electronic engineering, information engineering, [SDV.MHEP.PHY]Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], Humans, Electrical Engineering and Systems Science - Signal Processing, Aged, business.industry, Electromyography, Quantitative Biology - Tissues and Organs, medicine.disease, Hand, Physics - Medical Physics, body regions, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Amputation, Phantom Limb, FOS: Biological sciences, Quantitative Biology - Neurons and Cognition, Medical Physics (physics.med-ph), business, 030217 neurology & neurosurgery, Residual limb
Abstract: An arm amputation is extremely invalidating since many of our daily tasks require bi-manual and precise control of hand movements. Perfect hand prostheses should therefore offer a natural, intuitive and cognitively simple control over their numerous biomimetic active degrees of freedom. While efficient polydigital prostheses are commercially available, their control remains complex to master and offers limited possibilities, especially for high amputation levels. In this pilot study, we demonstrate the possibility for upper-arm amputees to intuitively control a polydigital hand prosthesis by using surface myoelectric activities of residual limb muscles (sEMG) associated with phantom limb movements, even if these residual arm muscles on which the phantom activity is measured were not naturally associated with hand movements before amputation. Using pattern recognition methods, three arm amputees were able, without training, to initiate 5–8 movements of a robotic hand (including individual finger movements) by simply mobilizing their phantom limb while the robotic hand was mimicking the action in real time. This innovative control approach could offer to numerous upper-limb amputees an access to recent biomimetic prostheses with multiple controllable joints, without requiring surgery or complex training; and might deeply change the way the phantom limb is apprehended by both patients and clinicians.
Published: 2017

47. Reachability and the sense of embodiment in amputees using prostheses

Author: Gouzien, Adrienne, de Vignemont, Fréderique, Touillet, Amélie, Martinet, Noël, De Graaf, Jozina, Jarrassé, Nathanaël, Roby-Brami, Agnès, Institut Jean-Nicod (IJN), Département d'Etudes Cognitives - ENS Paris (DEC), École normale supérieure - Paris (ENS-PSL), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-École normale supérieure - Paris (ENS-PSL), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-École des hautes études en sciences sociales (EHESS)-Collège de France (CdF (institution))-Centre National de la Recherche Scientifique (CNRS)-Département de Philosophie - ENS Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), Institut Régional de Médecine Physique et de Réadaptation Louis Pierquin [Nancy] (IRR Louis Pierquin), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut Régional de Médecine Physique et de Réadaptation [Nancy] (IRR), Neurophysique et physiologie du système moteur (NPSM), and Université Paris Descartes - Paris 5 (UPD5)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Adult, Male, Science, [SDV]Life Sciences [q-bio], Artificial Limbs, Middle Aged, Article, Judgment, Personal Space, Young Adult, [SPI]Engineering Sciences [physics], Amputees, Space Perception, Surveys and Questionnaires, Body Image, Humans, Medicine, Female, Aged
Abstract: International audience; Amputated patients are hardly satisfied with upper limb prostheses, and tend to favour the use of their contralateral arm to partially compensate their disability. This may seem surprising in light of recent evidences that external objects (rubber hand or tool) can easily be embodied, namely incorporated in the body representation. We investigated both implicit body representations (by evaluating the peripersonal space using a reachability judgement task) and the quality of bodily integration of the patient's prosthesis (assessed via questionnaires). As expected, the patients estimated that they could reach further while wearing their prosthesis, showing an embodiment of their prosthesis in their judgement. Yet, the real reaching space was found to be smaller with their prosthesis than with their healthy limb, showing a large error between reachability judgement and actual capacity. An overestimation was also found on the healthy side (comparatively to healthy subjects) suggesting a bilateral modification of body representation in amputated patients. Finally, a correlation was found between the quality of integration of the prosthesis and the way the body representation changed. This study therefore illustrates the multifaceted nature of the phenomenon of prosthesis integration, which involves its incorporation as a tool, but also various specific subjective aspects.
Published: 2017

48. Pelvi-perineal chronic pain, urgent demands of care and decision-making

Author: Amélie Levesque, V. Quistrebert-Davanne, P Guérin, A H Boudoukha, J. Nizard, J.-J. Labat, Laboratoire de Psychologie des Pays de la Loire (LPPL), Université d'Angers (UA)-Université de Nantes - UFR Lettres et Langages (UFRLL), Université de Nantes (UN)-Université de Nantes (UN), Agence Universitaire de la Francophonie (AUF), unité de recherche de l'institut du thorax UMR1087 UMR6291 (ITX), Université de Nantes - UFR de Médecine et des Techniques Médicales (UFR MEDECINE), Université de Nantes (UN)-Université de Nantes (UN)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Unité de recherche de l'institut du thorax (ITX-lab), Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université de Nantes - UFR de Médecine et des Techniques Médicales (UFR MEDECINE), Institut des Systèmes Intelligents et de Robotique (ISIR), and Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: Gynecology, 050103 clinical psychology, medicine.medical_specialty, Impulsivity, business.industry, Prise de décision, Urology, 05 social sciences, Catastrophism, Pelviperineal chronic pain, Douleur chronique pelvipérinéale, [SDV.MHEP.UN]Life Sciences [q-bio]/Human health and pathology/Urology and Nephrology, 050105 experimental psychology, Pensées catastrophiques, 3. Good health, Impulsivité, [SCCO.PSYC]Cognitive science/Psychology, medicine, 0501 psychology and cognitive sciences, business, ComputingMilieux_MISCELLANEOUS, Decision-making
Abstract: Resume Objectif Certains patients souffrant de douleurs pelviperineales chroniques expriment des demandes urgentes, voire imperieuses, de soin. L’objectif etait de comparer, au sein de cette meme population, le profil et le fonctionnement psychologique des patients, ayant manifeste une demande imperieuse de soin, du profil et du fonctionnement psychologique des patients n’ayant pas manifeste de demande imperieuse de prise en charge. Materiel et methode Dans le cadre des consultations medicales pour des douleurs pelviperineales chroniques, nous avons realise une etude comparative incluant 26 patients (groupe experimental) exprimant des demandes imperieuses de soin (i.e., des patients qui, lors des 3 derniers mois, ont fait appel a un service d’urgence concernant les douleurs pour lesquelles ils consultent dans le service) et 28 patients (groupe temoin) sans demande imperieuse de soin (i.e., des patients qui, lors des 3 derniers mois, n’ont pas fait appel a un service d’urgence concernant les douleurs pour lesquelles ils consultent dans le service). Tous les patients ont ete soumis a une tâche cognitive de prise de decision (Iowa Gambling Task) et a des mesures explicites de la douleur et de ses principaux facteurs psychologiques associes (anxiete, depression, catastrophisme et impulsivite). Resultats Premierement, les patients du groupe experimental possedent des capacites de prise de decision equivalentes aux patients du groupe temoin ; toutefois, les deux groupes de patients manifestent, en debut d’epreuve, un deficit dans la prise de decision (F(4,208) = 3,4116, p =,009). Deuxiemement, les mesures aux questionnaires revelent que les patients du groupe temoin ont des scores moins severes aux echelles de depression (t(52) = −2,068 ; p Conclusion L’utilisation de mesures explicites (questionnaire) et implicites (tâche experimentale) a permis d’objectiver plus finement des differences parmi les patients qui presentent des douleurs pelviperineales chroniques sur la base de leur demande imperieuse ou pas de prise en charge. Cette specificite psychologique nous oblige a apprehender differemment la prise en charge de ces patients, notamment en proposant des techniques cognitivocomportementales adaptees. Niveau de preuve 3.
Published: 2017

49. An architecture of virtual patient simulation platform to train doctors to break bad news

Author: Ochs , Magalie, de Montcheuil , Grégoire, Pergandi , Jean-Marie, Saubesty , Jorane, Pelachaud , C., MESTRE , D, Blache , Philippe, Laboratoire d'Informatique et Systèmes (LIS), Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Data, Information & content MAnagement Group (DIMAG), Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Aix Marseille Université (AMU), Laboratoire Parole et Langage (LPL), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), ANR-16-CONV-0002,ILCB,ILCB: Institute of Language Communication and the Brain(2016), ANR-11-IDEX-0001,Amidex,INITIATIVE D'EXCELLENCE AIX MARSEILLE UNIVERSITE(2011), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique et Systèmes ( LIS ), Aix Marseille Université ( AMU ) -Université de Toulon ( UTLN ) -Centre National de la Recherche Scientifique ( CNRS ), Data, Information & content MAnagement Group ( DIMAG ), Aix Marseille Université ( AMU ) -Université de Toulon ( UTLN ) -Centre National de la Recherche Scientifique ( CNRS ) -Aix Marseille Université ( AMU ) -Université de Toulon ( UTLN ) -Centre National de la Recherche Scientifique ( CNRS ), Aix Marseille Université ( AMU ), Laboratoire Parole et Langage ( LPL ), Centre National de la Recherche Scientifique ( CNRS ) -Aix Marseille Université ( AMU ), Institut des Sciences du Mouvement Etienne Jules Marey ( ISM ), Institut des Systèmes Intelligents et de Robotique ( ISIR ), Université Pierre et Marie Curie - Paris 6 ( UPMC ) -Centre National de la Recherche Scientifique ( CNRS ), Ochs, Magalie, ILCB: Institute of Language Communication and the Brain - - ILCB2016 - ANR-16-CONV-0002 - CONV - VALID, and INITIATIVE D'EXCELLENCE AIX MARSEILLE UNIVERSITE - - Amidex2011 - ANR-11-IDEX-0001 - IDEX - VALID
Subjects: [INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], [ INFO.INFO-MO ] Computer Science [cs]/Modeling and Simulation, Embodied conversational agent, social simulation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], platform, [ INFO.INFO-HC ] Computer Science [cs]/Human-Computer Interaction [cs.HC], health domain, virtual reality, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], [INFO.INFO-HC] Computer Science [cs]/Human-Computer Interaction [cs.HC], [ INFO.INFO-AI ] Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract: International audience; The way doctors deliver bad news related to damage associated with care has a significant impact on the therapeutic process. In order to facilitate the doctor's training, a simulation system has been developed to train doctors to break bad news with a virtual patient. The virtual patient's dialog behavior, based on the notion of " common ground " , has been specifically designed from the analysis of real training sessions in medical institutions and in light of pedagogical objectives. The doctors can interact in natural language with the virtual patient on three different platforms: PC, virtual reality headset, and virtual reality room. A tool has been developed to automatically record and then replay the interaction between the doctor and the virtual patient to debrief with an expert about this simulation.
Published: 2017

50. Design and experimental evaluation of an infrared instrumentation for haptic interfaces

Author: Anthony Chabrier, Franck Gonzalez, Florian Gosselin, Wael Bachta, Département Intelligence Ambiante et Systèmes Interactifs (DIASI), Laboratoire d'Intégration des Systèmes et des Technologies (LIST), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), and Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA))
Subjects: Engineering, Digital Mock-up, Mockups, Experimental evaluation, 02 engineering and technology, Solid modeling, Virtual reality, Haptic interfaces, Infra-red sensor, law.invention, Infrared instrumentation, Natural interactions, [SPI]Engineering Sciences [physics], law, Proximity sensor, Mice (computer peripherals), 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Instrumentation (computer programming), Simulation, Haptic technology, Orientation (computer vision), business.industry, 020208 electrical & electronic engineering, Robot end effector, End effectors, Position sensing, Contact surface, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, Position and orientations, business, Infrared detectors
Abstract: Conference of 2017 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2017 ; Conference Date: 22 May 2017 Through 25 May 2017; Conference Code:128947; International audience; This paper presents the design and experimental evaluation of the end-effector of a dexterous encounter type haptic interface aimed at allowing natural interactions with digital mockups in Virtual Reality. This end-effector has two purposes: first, it should be able to precisely measure the 6D position and orientation of a fingertip remotely without equipping the user with any marker on the skin or nail. Second, it should serve as contact surface when force feedback is required. Therefore, we make use of 9 proximity sensors, 8 of which are placed around the finger in two planes, the last one being in front of it. Our results show that, after calibration, this configuration effectively allows measuring the configuration of a mock-up representative of the finger with a good precision for various positions and orientations.
Published: 2017

Catalog

Books, media, physical & digital resources

See catalog results

Searchworks

Select search scope, currently: Articles Catalog books, media & more in Jio Institute collections Articles journal articles & other e-resources

Search

Search Constraints

Refine your results

Search Limiters

Topic

Publication Year Range

Language

Publication Type

Journal

Database

Publisher

1,935 results on '"Institut des Systèmes Intelligents et de Robotique (ISIR)"'

Search Results

Catalog

Select search scope, currently: Articles

Catalog

books, media & more in Jio Institute collections

Articles

journal articles & other e-resources