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Publications (6 of 6) 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. (2017). SHAPE Algorithm for Approximate Computation of Angular Velocities in Humeral Motion. In: 2017 IEEE International Instrumentation and Measurement Technology Conference (I2MTC): . Paper presented at 2017 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), 22-25 May 2017, Torino, Italy (pp. 714-718). IEEE
Open this publication in new window or tab >>SHAPE Algorithm for Approximate Computation of Angular Velocities in Humeral Motion
2017 (English)In: 2017 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), IEEE, 2017, p. 714-718Conference paper, Published paper (Refereed)
Abstract [en]

Estimating human motion is an area of emerging interest in instrumentation and measurement. Importantly, in such applications the physicality of the solution is paramount. Therefore, our paper proposes the SHAPE algorithm to estimate angular velocities of a moving segment from a cluster of passive markers used in a standard motion capture system known as stereophotogrammetry. We demonstrate the efficacy of our formulation with reference to the well known shape-matching algorithm in computer graphics. It is shown that our method is superior over the shape-matching algorithm.

Place, publisher, year, edition, pages
IEEE, 2017
Keywords
Angular velocity, Shape, Clustering algorithms, Heuristic algorithms, Kinematics, Atmospheric measurements
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-24114 (URN)10.1109/I2MTC.2017.7969776 (DOI)000431839600126 ()2-s2.0-85026782789 (Scopus ID)978-1-5090-3596-0 (ISBN)
Conference
2017 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), 22-25 May 2017, Torino, Italy
Funder
VINNOVA, AAL 2013-6-042
Note

This preprint is for personal use only.

Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2018-06-12Bibliographically 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
Virk, G. S., Haider, U., Indrawibawa, I. N., Thekkeparanipumadom, R. K. & Masud, N. (2014). Exo-legs for elderly persons. In: Krzysztof Kozłowski, Mohammad O. Tokhi, Gurvinder S. Virk (Ed.), Mobile service robotics: . Paper presented at 17th International Conference on Climbing and Walking Robots (CLAWAR), JUL 21-23, 2014, Poznan, Poland (pp. 85-92). Singapore: World Scientific
Open this publication in new window or tab >>Exo-legs for elderly persons
Show others...
2014 (English)In: Mobile service robotics / [ed] Krzysztof Kozłowski, Mohammad O. Tokhi, Gurvinder S. Virk, Singapore: World Scientific, 2014, p. 85-92Conference paper, Published paper (Refereed)
Abstract [en]

The paper presents a research update on the AAL Call 4 EXO-LEGS project aimed at developing lower-body mobility exoskeletons to assist elderly persons to stay independent in their normal daily living activities for as long as possible. The important movement functionalities and key design issues to be included in the process are identified via specifically developed questionnaires and responses from a pan-European end user group set up as part of the project. The user requirements are used together with the recently published ISO safety requirements for personal care robots to perform targeted technical research in the areas of human gait analysis, modelling and simulation, mechanical engineering, embedded system design, and ergonomic user interfacing.

Place, publisher, year, edition, pages
Singapore: World Scientific, 2014
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-18313 (URN)000342693100011 ()2-s2.0-84991754640 (Scopus ID)978-981-4623-34-6 (ISBN)
Conference
17th International Conference on Climbing and Walking Robots (CLAWAR), JUL 21-23, 2014, Poznan, Poland
Funder
Vinnova, 2012-03255
Available from: 2014-12-09 Created: 2014-12-09 Last updated: 2019-10-03Bibliographically approved
Projects
Exoskeleton legs for elderly persons (EXO-LEGS) [2012-03255_Vinnova]; University of Gävle; Publications
Singh Rupal, B., Rafique, S., Singla, A., Singla, E., Isaksson, M. & Singh Virk, G. (2017). Lower-limb exoskeletons: Research trends and regulatory guidelines in medical and non-medical applications. International Journal of Advanced Robotic Systems, 14(6), 1-27Haider, U., Nyoman, I. I., Kim, C., Masud, N., Virk, G. S. & Coronado, J. L. (2017). Modular EXO-LEGS for mobility of elderly persons. In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016. Paper presented at 19th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 12-14 September 2016, London, UK (pp. 851-859). Singapore: World ScientificVirk, G. S., Haider, U., Nyoman, I. I., Masud, N., Mamaev, I., Hopfgarten, P. & Hein, B. (2016). Design of EXO-LEGS exoskeletons. In: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015: . Paper presented at 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 6-9 September 2015, HangZhou, China (pp. 59-66). Virk, G. S., Haider, U., Indrawibawa, I. N., Thekkeparanipumadom, R. K. & Masud, N. (2014). Exo-legs for elderly persons. In: Krzysztof Kozłowski, Mohammad O. Tokhi, Gurvinder S. Virk (Ed.), Mobile service robotics: . Paper presented at 17th International Conference on Climbing and Walking Robots (CLAWAR), JUL 21-23, 2014, Poznan, Poland (pp. 85-92). Singapore: World ScientificIndrawibawa, I. N. & Virk, G. S. (2013). Exoskeleton for assisting human walking. In: Kenneth J Waldron, Mohammad O Tokhi and Gurvinder S Virk (Ed.), Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013. Paper presented at 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, 14-17 July 2013, Sydney, NSW (pp. 117-124). World Scientific Publishing Co.
Assistive exoskeleton suitable for elderly persons [2014-05953_Vinnova]; University of Gävle; Publications
Christensen, S., Bai, S., Rafique, S., Isaksson, M., O'Sullivan, L., Power, V. & Virk, G. S. (2019). AXO-SUIT: A Modular Full-Body Exoskeleton for Physical Assistance. In: Alessandro Gasparetto and Marco Ceccarelli (Ed.), Alessandro Gasparetto and Marco Ceccarelli (Ed.), Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics. Paper presented at MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy (pp. 443-450). Paper presented at MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy. Cham: Springer Netherlands, 66Bai, S., Christensen, S., Islam, M., Rafique, S., Masud, N., Mattsson, P., . . . Power, V. (2019). Development and testing of full-body exoskeleton AXO-SUIT for physical assistance of the elderly. In: Maria Chiara Carrozza, Silvestro Micera, José L. Pons (Ed.), Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy. Paper presented at 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy (pp. 180-184). Cham: Springer, 22Krishnan, 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. 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. Haider, U., Nyoman, I. I., Coronado, J. L., Kim, C. & Virk, G. S. (2016). User-centric Harmonized Control for Single Joint Assistive Exoskeletons. International Journal of Advanced Robotic Systems, 13(3), Article ID 115. O’Sullivan, L., Power, V., Virk, G. S., Masud, N., Haider, U., Christensen, S., . . . Voncke, K. (2015). End user needs elicitation for a full-body exoskeleton to assist the elderly. In: Ahram, T., Karwowski, W. and Schmorrow, D. (Ed.), 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the  affiliated conferences: . Paper presented at 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015), 26-30 July 2015, Las Vegas, Neevada, USA (pp. 1403-1409). Amsterdam: Elsevier
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-5970-2985

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