1,721,214 research outputs found
Improving Robotic Hand Prosthesis Control With Eye Tracking and Computer Vision: A Multimodal Approach Based on the Visuomotor Behavior of Grasping
Full text linkISSN:2624-821
Motion planning for a multi-arm surgical robot using both sampling-based algorithms and motion primitives
No full textThe paper describes a motion planning and control
software architecture developed for the automation of a
surgical robot. The considered surgical robot is a dual-arm
prototype developed with a redundant and modular mechanical
structure, designed to be reconfigured for different surgical
tasks, and with a hybrid parallel/serial kinematics. The motion
planning solution proposed in the paper includes both an online
collision-free path planner, based on the RRT-Connect algorithm,
and a generator of predefined motion primitives. This
solution allows the multi-arm robot to autonomously execute
the complex motion patterns required for a suturing task. Since
such motion patterns are specified in the Cartesian space, an
efficient and univocal solution of the inverse kinematics of
the robot, which is a challenging problem due to its hybrid
structure, is another crucial issue addressed in the paper
Personalized prediction of rehabilitation outcomes in multiple sclerosis: a proof-of-concept using clinical data, digital health metrics, and machine learning
No full textPredicting upper limb neurorehabilitation outcomes in persons with multiple sclerosis (pwMS) is essential to optimize therapy allocation. Previous research identified population-level predictors through linear models and clinical data. This work explores the feasibility of predicting individual neurorehabilitation outcomes using machine learning, clinical data, and digital health metrics. Machine learning models were trained on clinical data and digital health metrics recorded pre-intervention in 11 pwMS. The dependent variables indicated whether pwMS considerably improved across the intervention, as defined by the Action Research Arm Test (ARAT), Box and Block Test (BBT), or Nine Hole Peg Test (NHPT). Improvements in ARAT or BBT could be accurately predicted (88% and 83% accuracy) using only patient master data. Improvements in NHPT could be predicted with moderate accuracy (73%) and required knowledge about sensorimotor impairments. Assessing these with digital health metrics over clinical scales increased accuracy by 10%. Non-linear models improved accuracy for the BBT (+ 9%), but not for the ARAT (-1%) and NHPT (-2%). This work demonstrates the feasibility of predicting upper limb neurorehabilitation outcomes in pwMS, which justifies the development of more representative prediction models in the future. Digital health metrics improved the prediction of changes in hand control, thereby underlining their advanced sensitivity.Swiss Federal Institute of Technology Zurich ETH Zurich; European Union European Commission [688857]; Swiss State Secretariat for Education, Research and Innovation [15.0283-1]; National Research Foundation, Prime Minister's Office, Singapore under its Campus for Research Excellence and Technological Enterprise (CREATE) programm
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Development of a 2DOF robotic device for hand rehabilitation
Full text linkMost of the stroke survivors lose hand and arm skill which can be partially recovered
through intensive rehabilitation. Studies show that robot-assisted rehabilitation is
e ective, providing a more motivating environment and a better assessment of the
patient than traditional rehabilitation. The goal of this master thesis is to develop a
cheap, portable and commercially viable grasping and pronation/supination movements
rehabilitation robot based on an existing prototype, the ReHapticKnob. The
built device interacts with the human hand through two nger supports. The device
has two independently actuated and lockable degrees of freedom (DoF): the
translational DoF a ects hand opening and closing and the rotational DoF a ects
hand rotation. The device is controlled via a laptop programmed by LabView and
implementing an admittance control scheme. The nger supports are able to exert
a continuous force of 35 N and 1.3 Nm on the user's hand. Furthermore, the
device control can make the supports resistance to be moved by the hand almost
imperceptible if desired, which permits the device to render a wide variety of virtual
scenarios at the haptic level.Outgoin
Development of a 2DOF robotic device for hand rehabilitation
No full textMost of the stroke survivors lose hand and arm skill which can be partially recovered
through intensive rehabilitation. Studies show that robot-assisted rehabilitation is
e ective, providing a more motivating environment and a better assessment of the
patient than traditional rehabilitation. The goal of this master thesis is to develop a
cheap, portable and commercially viable grasping and pronation/supination movements
rehabilitation robot based on an existing prototype, the ReHapticKnob. The
built device interacts with the human hand through two nger supports. The device
has two independently actuated and lockable degrees of freedom (DoF): the
translational DoF a ects hand opening and closing and the rotational DoF a ects
hand rotation. The device is controlled via a laptop programmed by LabView and
implementing an admittance control scheme. The nger supports are able to exert
a continuous force of 35 N and 1.3 Nm on the user's hand. Furthermore, the
device control can make the supports resistance to be moved by the hand almost
imperceptible if desired, which permits the device to render a wide variety of virtual
scenarios at the haptic level.Outgoin
Development of a 2DOF robotic device for hand rehabilitation
No full textMost of the stroke survivors lose hand and arm skill which can be partially recovered
through intensive rehabilitation. Studies show that robot-assisted rehabilitation is
e ective, providing a more motivating environment and a better assessment of the
patient than traditional rehabilitation. The goal of this master thesis is to develop a
cheap, portable and commercially viable grasping and pronation/supination movements
rehabilitation robot based on an existing prototype, the ReHapticKnob. The
built device interacts with the human hand through two nger supports. The device
has two independently actuated and lockable degrees of freedom (DoF): the
translational DoF a ects hand opening and closing and the rotational DoF a ects
hand rotation. The device is controlled via a laptop programmed by LabView and
implementing an admittance control scheme. The nger supports are able to exert
a continuous force of 35 N and 1.3 Nm on the user's hand. Furthermore, the
device control can make the supports resistance to be moved by the hand almost
imperceptible if desired, which permits the device to render a wide variety of virtual
scenarios at the haptic level.Outgoin
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