Analysis of Joint and Hand Impedance During Teleoperation and Free-Hand Task Execution

Buzzi, Jacopo; Gatti, Cecilia; Ferrigno, Giancarlo; Momi, Elena De

doi:10.1109/lra.2017.2678546

Cited by 11 publications

(7 citation statements)

References 30 publications

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“…Importantly, the specific parameters of the power law will have to be determined as part of the controller design, or alternatively, may be left as a tuning parameter for the user. This framework can also be relevant to other applications of teleoperation [73][74][75], shared control [76,77], devices such as exoskeletons [78] and prostheses, and even trajectory generation for autonomous systems [79,80].…”

Section: Teleoperationmentioning

confidence: 99%

Expertise, Teleoperation, and Task Constraints Affect the Speed–Curvature–Torsion Power Law in RAMIS

Sharon

Nisky

2018

J. Med. Robot. Res.

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Quantitative characterization of surgical movements can improve the quality of patient care by informing the development of new training protocols for surgeons, and the design and control of surgical robots. Here, we focus on the relationship between the speed of movement and its geometry that was extensively studied in computational motor control. In three-dimensional movements, this relationship is defined by a family of speed–curvature–torsion power laws, such as the one-sixth power law. We present a novel characterization of open and teleoperated suturing movements using the speed–curvature–torsion power-law analysis. We fitted the gain and the exponents of this power law to suturing movements of participants with different levels of surgical experience in open (using sensorized forceps) and teleoperated (using the da Vinci Research Kit/da Vinci Surgical System) conditions from two different datasets. We found that expertise and teleoperation significantly affected the gain and exponents of the power law, and that there were large differences between different segments of movement. These results confirm that the relationship between the speed and geometry of surgical movements is indicative of surgical skill, open a new avenue for understanding the effect of teleoperation on the movements of surgeons, and lay the foundation for the development of new algorithms for automatic segmentation of surgical tasks.

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Section: Teleoperationmentioning

confidence: 99%

Expertise, Teleoperation, and Task Constraints Affect the Speed–Curvature–Torsion Power Law in RAMIS

Sharon

Nisky

2018

J. Med. Robot. Res.

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“…Instead of freezing the arm joints in the same solutions, experts exploit this redundancy, and use this variability in their arm joints to increase performance. To develop intuitive teleoperation systems and controllers, and to further understand redundancy exploitation in the human arm, it is beneficial to model the exploitation of arm kinematic and kinetic redundancy in different teleoperation and manipulation conditions [13], [14].…”

Section: Introductionmentioning

confidence: 99%

An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation

Buzzi

Momi

Nisky³

2019

IEEE Trans. Biomed. Eng.

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Abstract-Objective: In teleoperated robot-assisted tasks, the user interacts with manipulators to finely control remote tools. Manipulation of robotic devices, characterized by specific kinematic and dynamic proprieties, is a complex task for the human sensorimotor system due to the inherent biomechanical and neuronal redundancies that characterize the human arm and its control. We investigate how master devices with different kinematics structures and how different task constraints influence users capabilities in exploiting arm redundancy. Methods: A virtual teleoperation workbench was designed and the arm kinematics of seven users was acquired during the execution of two planar virtual tasks, involving either the control of position only or position-orientation of a tool. Using the UnControlled Manifold Analysis of arm joint variability we estimated the logarithmic ratio between task irrelevant and the task relevant manifolds (Rv). Results: The Rv values obtained in the position-orientation task were higher than in the position only task while no differences were found between the master devices. A modulation of Rv was found through the execution of the position task and a positive correlation was found between task performance and redundancy exploitation. Conclusion: Users exploited additional portions of arm redundancy when dealing with the tool orientation. The Rv modulation seems influenced by the task constraints and by the users possibility of reconfiguring the arm position. Significance: This work advances the general understanding of the exploitation of arm redundancy in complex tasks, and can improve the development of future robotic devices.

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“…Previous studies (Burdet et al, 2001 ) demonstrated the existence of control strategies employed to achieve stability through the regulation of the arm endpoint stiffness in terms of maximal value and orientation. Other studies showed the importance of stiffness regulation during complex tasks execution and motor learning (Osu et al, 2002 ; Gribble et al, 2003 ; Buzzi et al, 2017 ).…”

Section: Introductionmentioning

confidence: 95%

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

et al. 2017

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Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

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Analysis of Joint and Hand Impedance During Teleoperation and Free-Hand Task Execution

Cited by 11 publications

References 30 publications

Expertise, Teleoperation, and Task Constraints Affect the Speed–Curvature–Torsion Power Law in RAMIS

Expertise, Teleoperation, and Task Constraints Affect the Speed–Curvature–Torsion Power Law in RAMIS

An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

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