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Rakesh, K., Bjorsell, N., Gutierrez-Farewik, E. & Smith, C. (2019). A survey of human shoulder functional kinematic representations. Medical and Biological Engineering and Computing, 57(2), 339-367
Open this publication in new window or tab >>A survey of human shoulder functional kinematic representations
2019 (English)In: Medical and Biological Engineering and Computing, ISSN 0140-0118, E-ISSN 1741-0444, Vol. 57, no 2, p. 339-367Article, review/survey (Refereed) Published
Abstract [en]

In this survey, we review the field of human shoulder functional kinematic representations. The central question of this review is to evaluate whether the current approaches in shoulder kinematics can meet the high-reliability computational challenge. This challenge is posed by applications such as robot-assisted rehabilitation. Currently, the role of kinematic representations in such applications has been mostly overlooked. Therefore, we have systematically searched and summarised the existing literature on shoulder kinematics. The shoulder is an important functional joint, and its large range of motion (ROM) poses several mathematical and practical challenges. Frequently, in kinematic analysis, the role of the shoulder articulation is approximated to a ball-and-socket joint. Following the high-reliability computational challenge, our review challenges this inappropriate use of reductionism. Therefore, we propose that this challenge could be met by kinematic representations, that are redundant, that use an active interpretation and that emphasise on functional understanding.

Place, publisher, year, edition, pages
SPRINGER HEIDELBERG, 2019
Keywords
Kinematics, Robot-assisted rehabilitation, Human movement understanding, Human-robot interaction, Shoulder, MPSTER W T, 1965, Archives of physical medicine and rehabilitation, V46, P49 lsterlee Bart, 2014, MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING, V52, P283 hiele Andre, 2006, IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, V14, P456 ibek Jason S., 2013, JOURNAL OF APPLIED BIOMECHANICS, V29, P609 rman Sigal, 2008, ROBOTICA, V26, P435 ren Alexandra, 2013, MANUAL THERAPY, V18, P473 adi Hippolite O., 2008, JOURNAL OF BIOMECHANICS, V41, P2144 cWilliams Bruce A., 2013, JOURNAL OF BIOMECHANICAL ENGINEERING-TRANSACTIONS OF THE ASME, V135, yer Patrick J., 2008, JOURNAL OF ORTHOPAEDIC SCIENCE, V13, P359 Xu, 2013, EXPERIMENTAL BRAIN RESEARCH, V231, P249
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-244109 (URN)10.1007/s11517-018-1903-3 (DOI)000456747000001 ()30367391 (PubMedID)2-s2.0-85055874727 (Scopus ID)
Funder
VINNOVA, AAL 2013-6-042
Note

QC 20190219

Available from: 2019-02-19 Created: 2019-02-19 Last updated: 2019-02-19Bibliographically approved
Cruciani, S., Smith, C., Kragic, D. & Hang, K. (2018). Dexterous Manipulation Graphs. In: Maciejewski, AA Okamura, A Bicchi, A Stachniss, C Song, DZ Lee, DH Chaumette, F Ding, H Li, JS Wen, J Roberts, J Masamune, K Chong, NY Amato, N Tsagwarakis, N Rocco, P Asfour, T Chung, WK Yasuyoshi, Y Sun, Y Maciekeski, T Althoefer, K AndradeCetto, J Chung, WK Demircan, E Dias, J Fraisse, P Gross, R Harada, H Hasegawa, Y Hayashibe, M Kiguchi, K Kim, K Kroeger, T Li, Y Ma, S Mochiyama, H Monje, CA Rekleitis, I Roberts, R Stulp, F Tsai, CHD Zollo, L (Ed.), 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS): . Paper presented at 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 01-05, 2018, Madrid, SPAIN (pp. 2040-2047). IEEE
Open this publication in new window or tab >>Dexterous Manipulation Graphs
2018 (English)In: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Maciejewski, AA Okamura, A Bicchi, A Stachniss, C Song, DZ Lee, DH Chaumette, F Ding, H Li, JS Wen, J Roberts, J Masamune, K Chong, NY Amato, N Tsagwarakis, N Rocco, P Asfour, T Chung, WK Yasuyoshi, Y Sun, Y Maciekeski, T Althoefer, K AndradeCetto, J Chung, WK Demircan, E Dias, J Fraisse, P Gross, R Harada, H Hasegawa, Y Hayashibe, M Kiguchi, K Kim, K Kroeger, T Li, Y Ma, S Mochiyama, H Monje, CA Rekleitis, I Roberts, R Stulp, F Tsai, CHD Zollo, L, IEEE , 2018, p. 2040-2047Conference paper, Published paper (Refereed)
Abstract [en]

We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the end-effector. We use a dual arm robot with parallel grippers to test our method on a real system and show successful planning and execution of in-hand manipulation.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:kth:diva-246311 (URN)10.1109/IROS.2018.8594303 (DOI)000458872702017 ()978-1-5386-8094-0 (ISBN)
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 01-05, 2018, Madrid, SPAIN
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-03-19Bibliographically approved
Masud, N., Smith, C. & Isaksson, M. (2018). Disturbance observer based dynamic load torque compensator for assistive exoskeletons. Mechatronics (Oxford), 54, 78-93
Open this publication in new window or tab >>Disturbance observer based dynamic load torque compensator for assistive exoskeletons
2018 (English)In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 54, p. 78-93Article in journal (Refereed) Published
Abstract [en]

In assistive robotics applications, the human limb is attached intimately to the robotic exoskeleton. The coupled dynamics of the human-exoskeleton system are highly nonlinear and uncertain, and effectively appear as uncertain load-torques at the joint actuators of the exoskeleton. This uncertainty makes the application of standard computed torque techniques quite challenging. Furthermore, the need for safe human interaction severely limits the gear ratio of the actuators. With small gear ratios, the uncertain joint load-torques cannot be ignored and need to be effectively compensated. A novel disturbance observer based dynamic load-torque compensator is hereby proposed and analysed for the current controlled DC-drive actuators of the exoskeleton, to effectively compensate the said uncertain load-torques at the joint level. The feedforward dynamic load-torque compensator is proposed based on the higher order dynamic model of the current controlled DC-drive. The dynamic load-torque compensator based current controlled DC-drive is then combined with a tailored feedback disturbance observer to further improve the compensation performance in the presence of drive parametric uncertainty. The proposed compensator structure is shown both theoretically and practically to give significantly improved performance w.r.t disturbance observer compensator alone and classical static load-torque compensator, for rated load-torque frequencies up to 1.6 Hz, which is a typical joint frequency bound for normal daily activities for elderly. It is also shown theoretically that the proposed compensator achieves the improved performance with comparable reference current requirement for the current controlled DC-drive.

Place, publisher, year, edition, pages
Pergamon Press, 2018
Keywords
Load torque compensator, Exoskeleton, Serial manipulator, Disturbance observer
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-237104 (URN)10.1016/j.mechatronics.2018.07.003 (DOI)000446949100007 ()2-s2.0-85050674987 (Scopus ID)
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2018-10-24Bibliographically approved
Cruciani, S. & Smith, C. (2018). Integrating Path Planning and Pivoting. In: Maciejewski, AA Okamura, A Bicchi, A Stachniss, C Song, DZ Lee, DH Chaumette, F Ding, H Li, JS Wen, J Roberts, J Masamune, K Chong, NY Amato, N Tsagwarakis, N Rocco, P Asfour, T Chung, WK Yasuyoshi, Y Sun, Y Maciekeski, T Althoefer, K AndradeCetto, J Chung, WK Demircan, E Dias, J Fraisse, P Gross, R Harada, H Hasegawa, Y Hayashibe, M Kiguchi, K Kim, K Kroeger, T Li, Y Ma, S Mochiyama, H Monje, CA Rekleitis, I Roberts, R Stulp, F Tsai, CHD Zollo, L (Ed.), 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS): . Paper presented at 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 01-05, 2018, Madrid, SPAIN (pp. 6601-6608). IEEE
Open this publication in new window or tab >>Integrating Path Planning and Pivoting
2018 (English)In: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Maciejewski, AA Okamura, A Bicchi, A Stachniss, C Song, DZ Lee, DH Chaumette, F Ding, H Li, JS Wen, J Roberts, J Masamune, K Chong, NY Amato, N Tsagwarakis, N Rocco, P Asfour, T Chung, WK Yasuyoshi, Y Sun, Y Maciekeski, T Althoefer, K AndradeCetto, J Chung, WK Demircan, E Dias, J Fraisse, P Gross, R Harada, H Hasegawa, Y Hayashibe, M Kiguchi, K Kim, K Kroeger, T Li, Y Ma, S Mochiyama, H Monje, CA Rekleitis, I Roberts, R Stulp, F Tsai, CHD Zollo, L, IEEE , 2018, p. 6601-6608Conference paper, Published paper (Refereed)
Abstract [en]

In this work we propose a method for integrating motion planning and in-hand manipulation. Commonly addressed as a separate step from the final execution, in-hand manipulation allows the robot to reorient an object within the end-effector for the successful outcome of the goal task. A joint achievement of repositioning the object and moving the manipulator towards its desired final pose saves time in the execution and introduces more flexibility in the system. We address this problem using a pivoting strategy (i.e. in-hand rotation) for repositioning the object and we integrate this strategy with a path planner for the execution of a complex task. This method is applied on a Baxter robot and its efficacy is shown by experimental results.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:kth:diva-246313 (URN)10.1109/IROS.2018.8593584 (DOI)000458872706008 ()978-1-5386-8094-0 (ISBN)
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 01-05, 2018, Madrid, SPAIN
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-03-19Bibliographically approved
Rakesh, K., Cruciani, S., Gutierrez-Farewik, E., Björsell, N. & Smith, C. (2018). Reliably Segmenting Motion Reversals of a Rigid-IMU Cluster Using Screw-Based Invariants. In: : . Paper presented at IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Beijing, China, November 6-9.
Open this publication in new window or tab >>Reliably Segmenting Motion Reversals of a Rigid-IMU Cluster Using Screw-Based Invariants
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2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Human-robot interaction (HRI) is movingtowards the human-robot synchronization challenge. Inrobots like exoskeletons, this challenge translates to thereliable motion segmentation problem using wearabledevices. Therefore, our paper explores the possibility ofsegmenting the motion reversals of a rigid-IMU clusterusing screw-based invariants. Moreover, we evaluate thereliability of this framework with regard to the sensorplacement, speed and type of motion. Overall, our resultsshow that the screw-based invariants can reliably segmentthe motion reversals of a rigid-IMU cluster.

National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-241104 (URN)10.1109/HUMANOIDS.2018.8624969 (DOI)000458689700013 ()2-s2.0-85062299962 (Scopus ID)
Conference
IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Beijing, China, November 6-9
Note

QC 20190111

Available from: 2019-01-10 Created: 2019-01-10 Last updated: 2019-04-11Bibliographically approved
Cruciani, S. & Smith, C. (2017). In-Hand Manipulation Using Three-Stages Open Loop Pivoting. In: Bicchi, A Okamura, A (Ed.), 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA (pp. 1244-1251). IEEE
Open this publication in new window or tab >>In-Hand Manipulation Using Three-Stages Open Loop Pivoting
2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 1244-1251Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we propose a method for pivoting an object held by a parallel gripper, without requiring accurate dynamical models or advanced hardware. Our solution uses the motion of the robot arm for generating inertial forces to move the object. It also controls the rotational friction at the pivoting point by commanding a desired distance to the gripper's fingers. This method relies neither on fast and precise tracking systems to obtain the position of the tool, nor on real-time and high-frequency controllable robotic grippers to quickly adjust the finger distance. We demonstrate the efficacy of our method by applying it on a Baxter robot.

Place, publisher, year, edition, pages
IEEE, 2017
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-225800 (URN)10.1109/IROS.2017.8202299 (DOI)000426978201089 ()2-s2.0-85041954987 (Scopus ID)978-1-5386-2682-5 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Note

QC 20180409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2019-04-04Bibliographically approved
Rakesh, K., Björsell, N. & Smith, C. (2017). Segmenting humeral submovements using invariant geometric signatures. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017 (pp. 6951-6958). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8206619.
Open this publication in new window or tab >>Segmenting humeral submovements using invariant geometric signatures
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 6951-6958, article id 8206619Conference paper, Published paper (Refereed)
Abstract [en]

Discrete submovements are the building blocks of any complex movement. When robots collaborate with humans, extraction of such submovements can be very helpful in applications such as robot-assisted rehabilitation. Our work aims to segment these submovements based on the invariant geometric information embedded in segment kinematics. Moreover, this segmentation is achieved without any explicit kinematic representation. Our work demonstrates the usefulness of this invariant framework in segmenting a variety of humeral movements, which are performed at different speeds across different subjects. Our results indicate that this invariant framework has high computational reliability despite the inherent variability in human motion.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-224352 (URN)10.1109/IROS.2017.8206619 (DOI)000426978206070 ()2-s2.0-85041961221 (Scopus ID)9781538626825 (ISBN)
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017
Note

QC 20180319

Available from: 2018-03-19 Created: 2018-03-19 Last updated: 2019-04-15Bibliographically approved
Viña Barrientos, F., Karayiannidis, Y., Smith, C. & Kragic, D. (2016). Adaptive Control for Pivoting with Visual and Tactile Feedback. In: : . Paper presented at IEEE International Conference on Robotics and Automation,Stockholm, Sweden 16-21 May 2016. Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Adaptive Control for Pivoting with Visual and Tactile Feedback
2016 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this work we present an adaptive control approach for pivoting, which is an in-hand manipulation maneuver that consists of rotating a grasped object to a desired orientation relative to the robot’s hand. We perform pivoting by means of gravity, allowing the object to rotate between the fingers of a one degree of freedom gripper and controlling the gripping force to ensure that the object follows a reference trajectory and arrives at the desired angular position. We use a visual pose estimation system to track the pose of the object and force measurements from tactile sensors to control the gripping force. The adaptive controller employs an update law that accommodates for errors in the friction coefficient,which is one of the most common sources of uncertainty in manipulation. Our experiments confirm that the proposed adaptive controller successfully pivots a grasped object in the presence of uncertainty in the object’s friction parameters.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:kth:diva-187483 (URN)000389516200050 ()2-s2.0-84977472497 (Scopus ID)
Conference
IEEE International Conference on Robotics and Automation,Stockholm, Sweden 16-21 May 2016
Note

QC 20160524

Available from: 2016-05-24 Created: 2016-05-24 Last updated: 2018-01-10Bibliographically approved
Karayiannidis, Y., Smith, C., Barrientos, F. E., Ögren, P. & Kragic, D. (2016). An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties. IEEE Transactions on robotics, 32(1), 161-175
Open this publication in new window or tab >>An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties
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2016 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 32, no 1, p. 161-175Article in journal (Refereed) Published
Abstract [en]

We study the problem of robot interaction with mechanisms that afford one degree of freedom motion, e.g., doors and drawers. We propose a methodology for simultaneous compliant interaction and estimation of constraints imposed by the joint. Our method requires no prior knowledge of the mechanisms' kinematics, including the type of joint, prismatic or revolute. The method consists of a velocity controller that relies on force/torque measurements and estimation of the motion direction, the distance, and the orientation of the rotational axis. It is suitable for velocity controlled manipulators with force/torque sensor capabilities at the end-effector. Forces and torques are regulated within given constraints, while the velocity controller ensures that the end-effector of the robot moves with a task-related desired velocity. We give proof that the estimates converge to the true values under valid assumptions on the grasp, and error bounds for setups with inaccuracies in control, measurements, or modeling. The method is evaluated in different scenarios involving opening a representative set of door and drawer mechanisms found in household environments.

Place, publisher, year, edition, pages
IEEE, 2016
Keywords
Adaptive control, calibration and identification, force/motion control, service robots, uncertain kinematics
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-184046 (URN)10.1109/TRO.2015.2506154 (DOI)000370764000012 ()2-s2.0-84961994390 (Scopus ID)
Note

QC 20160323

Available from: 2016-03-23 Created: 2016-03-22 Last updated: 2017-11-30Bibliographically approved
Rakesh, K., Niclas, B. & Christian, S. (2016). Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study. In: : . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). IEEE Robotics and Automation Society
Open this publication in new window or tab >>Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study
2016 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we present a novel kinematic framework using hybrid twists, that has the potential to improve the reliability of estimated human shoulder kinematics. This is important as the functional aspects of the human shoulder are evaluated using the information embedded in thoracohumeral kinematics. We successfully demonstrate in our results, that our approach is invariant of the body-fixed coordinate definition, is singularity free and has high repeatability; thus resulting in a flexibleuser-specific kinematic tracking not restricted to bony landmarks.

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2016
Keywords
Human movement analysis, Kinematics, Human detection and tracking
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-190090 (URN)000391921704074 ()2-s2.0-85006427957 (Scopus ID)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Funder
VINNOVA, AAL 2013-6-042
Note

QC 20170328

Available from: 2016-08-07 Created: 2016-08-07 Last updated: 2017-03-28Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0003-2078-8854

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