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Publications (4 of 4) Show all publications
Krishnan, R., Björsell, N. & Smith, C. (2017). Segmenting humeral submovements using invariant geometric signatures. In: Bicchi, A., Okamura, A. (Ed.), 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), 24–28 September 2017, Vancouver, Canada (pp. 6951-6958). 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) / [ed] Bicchi, A., Okamura, A., 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 bevery 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
IEEE, 2017
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords
Kinematics, Human Movement Understanding, Human-centric Robotics
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-25214 (URN)10.1109/IROS.2017.8206619 (DOI)000426978206070 ()2-s2.0-85041961221 (Scopus ID)978-1-5386-2682-5 (ISBN)978-1-5386-2681-8 (ISBN)
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 24–28 September 2017, Vancouver, Canada
Projects
(AAL Call) AXO-SUIT project
Funder
Vinnova, 2014-05953
Available from: 2017-09-12 Created: 2017-09-12 Last updated: 2019-10-01Bibliographically approved
Krishnan, R., Björsell, N. & Smith, C. (2016). How do we plan movements?: A geometric answer. In: School and symposium on advanced neurorehabilitation (SSNR2016): Proceedings. Paper presented at School and symposium on advanced neurorehabilitation (SSNR2016), 6-10 June 2016, Baiona, Spain (pp. 16-17).
Open this publication in new window or tab >>How do we plan movements?: A geometric answer
2016 (English)In: School and symposium on advanced neurorehabilitation (SSNR2016): Proceedings, 2016, , p. 2p. 16-17Conference paper, Oral presentation with published abstract (Other academic)
Abstract [en]

Human movement is essentially a complex phenomenon. When humans work closely with robots, understanding human motion using robot’s sensors is a very challenging problem. This is partially due to the lack of proper consensus among researchers on which representation to use in such situations. This extended abstract presents a novel kinematic framework to study human intention using hybrid twists. Thisis important as the functional aspects of the human shoulder are evaluated using the information embedded in thoraco-humeral kinematics. We successfully demonstrate that our approach is singularity free. We also demonstrate that how the twis tparameters vary according to the movement being performed.

Publisher
p. 2
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-22702 (URN)
Conference
School and symposium on advanced neurorehabilitation (SSNR2016), 6-10 June 2016, Baiona, Spain
Projects
VINNOVA, AAL 2013-6-042
Funder
VINNOVA, AAL 2013-6-042
Available from: 2016-11-07 Created: 2016-11-07 Last updated: 2018-03-13Bibliographically approved
Krishnan, R., Björsell, N. & Smith, C. (2016). Human shoulder functional kinematics: Are we ready for the high-reliability computational challenge?. In: : . Paper presented at 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)- Human Movement Understanding and Robotics, 9-14 October 2016, Daejeon, South Korea.
Open this publication in new window or tab >>Human shoulder functional kinematics: Are we ready for the high-reliability computational challenge?
2016 (English)Conference paper, Oral presentation only (Other academic)
Abstract [en]

In  this  preview  talk,  I  will  present  a  short  summary  of  our  ongoing  work  related  to  human shoulder functional kinematics.  Robot-assisted rehabilitation needs functional understanding of human kinematics in design, operation and evaluation of this technology. Human shoulder is an important  functional  joint  that  enables  fine  motor  skills  for  human  upper  arm  manipulation. Due  to  several  mathematical  and  practical  challenges,  the  shoulder  kinematics  is  often oversimplified. Moreover, there is a lack of agreement among different research communities on  the  suitable  kinematic  representation  when  connecting  humans  to  robots.  Currently,  it  is expected  that  this  computational  structure  used  in  such  applications  have  high-reliability. Therefore,  we  pose  the  question:  Are  we  ready  for  the  high-reliability  computational challenge?

National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-24118 (URN)
Conference
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)- Human Movement Understanding and Robotics, 9-14 October 2016, Daejeon, South Korea
Funder
VINNOVA, AAL 2013-6-042
Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2018-03-13Bibliographically approved
Krishnan, R., Björsell, N. & Smith, C. (2016). Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 9-14 October 2016, Daejeon, Korea (pp. 4469-4476). IEEE Robotics and Automation Society, Article ID 7759658.
Open this publication in new window or tab >>Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study
2016 (English)In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Robotics and Automation Society, 2016, p. 4469-4476, article id 7759658Conference 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 shoulderkinematics. This is important as the functional aspects ofthe 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 flexible user-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:hig:diva-22193 (URN)10.1109/IROS.2016.7759658 (DOI)000391921704074 ()27295638 (PubMedID)2-s2.0-85006427957 (Scopus ID)978-1-5090-3762-9 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 9-14 October 2016, Daejeon, Korea
Funder
Vinnova, 2014-05953
Note

Accepted paper. This preprint is for personal use only.

(AAL Call 6) AXO-SUIT project

Available from: 2016-08-07 Created: 2016-08-07 Last updated: 2019-10-01Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0003-2078-8854

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