NIMA: Non-invasive Interface for Movement Augmentation

Deliverables

First release of the sensory feedback suit

Report on workspace safety for Supernumerary limb

Publications

Can Training Make Three Arms Better Than Two Heads for Trimanual Coordination?

Author(s): Huang, Yanpei; Eden, Jonathan; Ivanova, Ekaterina; Burdet, Etienne
Published in: IEEE Open Journal of Engineering in Medicine and Biology, Issue Volume 4, 2023, Page(s) 148 - 155, ISSN 2644-1276
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/ojemb.2023.3305808

Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery

Author(s): Yanpei Huang, Wenjie Lai, Lin Cao, Etienne Burdet, Soo Jay Phee
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 2469-2476, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3062009

Impact of supplementary sensory feedback on the control and embodiment in human movement augmentation

Author(s): Pinardi M., Longo M.R., Formica D., Strbac M., Mehring C., Burdet E., Di Pino G.
Published in: Communications Engineering, Issue 2, Article number: 64, 2023, ISSN 2731-3395
Publisher: Springer
DOI: 10.1038/s44172-023-00111-1

Identification of multiple limbs coordination strategies in a three-goal independent task

Author(s): Yanpei Huang; Ekaterina Ivanova; Jonathan Eden; Etienne Burdet
Published in: IEEE Transactions on Medical Robotics and Bionics, Issue 7, 2022, Page(s) Volume 4, Issue 2, Pages 348 - 3511 May 2022, ISSN 2576-3202
Publisher: IEEE Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/tmrb.2021.3124263

A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Surgical Robot

Author(s): Yanpei Huang, Etienne Burdet, Lin Cao, Phuoc Thien Phan, Anthony Meng Huat Tiong, Soo Jay Phee
Published in: IEEE/ASME Transactions on Mechatronics, Issue 25/2, 2020, Page(s) 951-963, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2020.2964295

A Three-Limb Teleoperated Robotic System with Foot Control for Flexible Endoscopic Surgery

Author(s): Yanpei Huang; Yanpei Huang; Wenjie Lai; Lin Cao; Jiajun Liu; Xiaoguo Li; Etienne Burdet; Soo Jay Phee
Published in: Annals of Biomedical EngineeringOpen AccessVolume 49, Issue 9, Pages 2282 - 2296September 2021, Issue 5, 2021, ISSN 0090-6964
Publisher: Kluwer Academic Publishers
DOI: 10.48550/arxiv.2007.05927

Abstracts from the IFESS 2021 conferences

Author(s): Boljanić, Tanja; Isaković, Milica; Malešević, Jovana; Formica, Domenico; Di Pino, Giovanni; Keller, Thierry; Štrbac, Matija
Published in: Artificial Organs, Issue vol. 46, no. 3, pp. 36–41, 2022,, 2022, ISSN 0160-564X
Publisher: Blackwell Publishing Inc.
DOI: 10.1111/aor.14132

The Ethics of Supernumerary Robotic Limbs. An Enactivist Approach

Author(s): Di Stefano, Nicola; Jarrassé, Nathanaël; Valera, Luca
Published in: Science and Engineering Ethics, Issue vol. 28, no. 6, pp. 57, 2022, 2022, ISSN 1471-5546
Publisher: Springer
DOI: 10.1007/s11948-022-00405-1

The impact of stiffness in bimanual versus dyadic interactions requiring force exchange

Author(s): Nuria Peña-Perez; Sharah Abdul Mutalib; Jonathan Eden; Ildar Farkhatdinov; Etienne Burdet
Published in: IEEE Transactions on Haptics, Issue In press, 2023, ISSN 2329-4051
Publisher: IEEE
DOI: 10.1109/toh.2023.3274584

Controlling a motion extender without end-effector task explicitness through coupled optimization

Author(s): A Poignant, M Legrand, N Jarrassé and G Morel
Published in: IEEE Transactions on Mechatronics, 2023 (revision), 2023, ISSN 1941-014X
Publisher: IEEE

Exploring crossmodal correspondences for future research in human movement augmentation (accepted)

Author(s): Pinardi, M., Di Stefano, N., Di Pino, G., Spence, C.
Published in: Frontiers in Psychology, 2023, ISSN 1664-1078
Publisher: Frontiers Research Foundation

Learning to Assist Bimanual Teleoperation using Interval Type-2 Polynomial Fuzzy Inference

Author(s): Z. Wang, H Fei, Y Huang, Q Rouxel, B Xiao, Z Li and E Burdet
Published in: IEEE Transactions on Cognitive and Developmental Systems 2023 (In press), 2023, ISSN 2379-8920
Publisher: IEEE

Roboticists Want to Give You a Third Arm: Unused Bandwidth in Neurons Can be Tapped to Control Extra Limbs

Author(s): Dario Farina; Etienne Burdet; Carsten Mehring; Jaime Ibáñez
Published in: IEEE Spectrum, Issue vol. 60, no. 3, pp. 22–46, 2023, 2023, ISSN 0018-9235
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mspec.2023.10061646

Human performance in three-hands tasks

Author(s): A. Noccaro, J. Eden, G. Di Pino, D. Formica, E. Burdet
Published in: Scientific Reports, Issue 11/1, 2021, Page(s) 1-8, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-021-88862-9

How virtual and mechanical coupling impact bimanual tracking.

Author(s): Nuria Peña-Pérez; Jonathan Eden; Ekaterina Ivanova; Ildar Farkhatdinov; Etienne Burdet
Published in: Journal of Neurophysiology, Issue Volume 129, Issue 1, Pages 102 - 114 January 2023, 2023, ISSN 0022-3077
Publisher: American Physiological Society
DOI: 10.1152/jn.00057.2022

The control and training of single motor units in isometric tasks are constrained by a common input signal

Author(s): Mario Bräcklein; Deren Yusuf Barsakcioglu; Jaime Ibáñez; Jonathan Eden; Etienne Burdet; Carsten Mehring; Dario Farina
Published in: eLife, Issue Volume 11June 2022 Article number e72871, 2022, ISSN 2050-084X
Publisher: eLife Sciences Publications
DOI: 10.7554/elife.72871

The control and training of single motor units in isometric tasks are constrained by a common synaptic input signal

Author(s): Bräcklein, Mario; Ibáñez, Jaime; Barsakcioglu, Deren Yusuf; Eden, Jonathan; Burdet, Etienne; Mehring, Carsten; Farina, Dario
Published in: eLife, Issue Volume 11J Article number e72871, 2022, ISSN 2050-084X
Publisher: eLife Sciences Publications
DOI: 10.1101/2021.08.03.454908

A Novel Training and Collaboration Integrated Framework for Human–Agent Teleoperation

Author(s): Zebin Huang; Ziwei Wang; Weibang Bai; Yanpei Huang; Lichao Sun; Bo Xiao; Eric M. Yeatman
Published in: Sensors, Vol 21, Iss 8341, p 8341 (2021), Issue 13, 2021, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21248341

Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer

Author(s): Hu, Zhaoyang Jacopo; Wang, Ziwei; Huang, Yanpei; Sena, Aran; Rodriguez y Baena, Ferdinando; Burdet, Etienne
Published in: IEEE Robotics and Automation LettersVolume, Issue 8, Issue 8, 2023, Page(s) 4553 - 45601, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3285478

Reading and Modulating Cortical β Bursts from Motor Unit Spiking Activity.

Author(s): Mario Bräcklein; Deren Y. Barsakcioglu; Alessandro Del Vecchio; Jaime Ibáñez; Dario Farina
Published in: Journal of Neuroscience, Issue Volume 42, Issue 17, Pages 3611 - 362127 April 2022, 2022, ISSN 0270-6474
Publisher: Society for Neuroscience
DOI: 10.1523/jneurosci.1885-21.2022

Tri-Manipulation: An Evaluation of Human Performance in 3-Handed Teleoperation

Author(s): Yanpei Huang, Jonathan Eden, Lin Cao, Etienne Burdet, Soo Jay Phee
Published in: IEEE Transactions on Medical Robotics and Bionics, Issue 2/4, 2020, Page(s) 545-548, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2020.3033137

Principles of human movement augmentation and the challenges in making it a reality

Author(s): Jonathan Eden; Mario Bräcklein; Jaime Ibáñez; Deren Yusuf Barsakcioglu; Giovanni Di Pino; Dario Farina; Etienne Burdet; Carsten Mehring
Published in: Nature Communications, Issue Volume 13, Issue 1December 2022 Article number 1345, 2022, ISSN 2041-1723
Publisher: Nature Publishing Group
DOI: 10.1038/s41467-022-28725-7

Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity

Author(s): Mahdi Khoramshahi; Agnes Roby-Brami; Ross Parry; Nathanaël Jarrassé
Published in: PLoS ONE, Issue Volume 17, Issue 12 DecemberDecember 2022 Article number e0278228, 2022, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0278228

Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm

Author(s): Buratti, Silvia; Deiana, Davide; Noccaro, Alessia; Pinardi, Mattia; Di Pino, Giovanni; Di Pino G.; Formica, Domenico; Jarrassé, Nathanaël
Published in: MachinesOpen AccessVolume 11, Issue 12 December 2023 Article number 1085, Issue 12, 2023, ISSN 2075-1702
Publisher: MDPI
DOI: 10.3390/machines11121085

Is a Robot Needed to Modify Human Effort in Bimanual Tracking?

Author(s): Nuria Peña Perez; Jonathan Eden; Ekaterina Ivanova; Etienne Burdet; Ildar Farkhatdinov
Published in: IEEE Robotics and Automation Letters, Issue Volume 7, Issue 3, Pages 8069 - 80751 July 2022, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3183753

Comparing end-effector position and joint angle feedback for online robotic limb tracking

Author(s): Pinardi M., Raiano L., Noccaro A., Formica D. and G. Di Pino
Published in: PLoS ONE, 2023, ISSN 1932-6203
Publisher: Public Library of Science

Mental Tasks Modulate Motor-Units Above 10 Hz and are a Potential Control Signal for Movement Augmentation: a Preliminary Study

Author(s): Ofner P., Lee M.J., Farina D. and Mehring C
Published in: IEEE EMBC 2023 (accepted), 2023
Publisher: IEEE

Perception and Performance of Electrical Stimulation for Proprioception

Author(s): C. Blondin, E. Ivanova, J. Eden and E. Burdet
Published in: 3rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021Virtual, Online1 November 2021through 5 November 2021, 2021
Publisher: IEEE
DOI: 10.1109/embc46164.2021.9630186

Comparison of human trimanual performance between independent and dependent multiple-limb training modes

Author(s): Allemang-Trivalle, Arnaud; Eden, Jonathan; Huang, Yanpei; Ivanova, Ekaterina; Burdet, Etienne
Published in: 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022Seoul21 August 2022through 24 August 2022, 2022
Publisher: IEEE
DOI: 10.1109/biorob52689.2022.9925417

Foot gestures to control the grasping of a surgical robot

Author(s): Y Cheng, Y Huang, Z Wang and E. Burdet,
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2023, in Press., 2023
Publisher: IEEE

Trimanipulation: Evaluation of human performance in a 3-handed coordination task

Author(s): Yanpei Huang, Jonathan Eden, Ekaterina Ivanova, Soo Jay Phee, Etienne Burdet
Published in: Proceedings of IEEE International Conference on Systems, Man and Cybernetics, 2021
Publisher: IEEE

Human Performance of Three Hands in Unimanual, Bimanual and Trimanual Tasks

Author(s): Y. Huang, J. Eden, E. Ivanova and E. Burdet
Published in: 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2022Glasgow11 July 2022through 15 July 2022, 2022, Page(s) 2022, ISSN 1557-170X
Publisher: IEEE
DOI: 10.1109/embc48229.2022.9871248

Dissociating haptic feedback from physical assistance does not improve motor performance

Author(s): E. Ivanova, N. Peña-Perez, J. Eden, Y. Yip and E. Burdet
Published in: Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2023, (in press)., 2023
Publisher: IEEE

A Novel Proprioceptive Feedback System for Supernumerary Robotic Limb

Author(s): A. Noccaro, L. Raiano, M. Pinardi, D. Formica, G. Di Pino
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, Page(s) 1024-1029, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/biorob49111.2020.9224450

Validation of vibrotactile feedback to improve selective motor units recruitment

Author(s): Deiana, D., Pinardi, M., Noccaro, A., Iandoli, M., Formica, D., Di Pino, G.
Published in: IEEE International Symposium on Medical Measurements and Applications (18th edition)., 2023
Publisher: IEEE

Redundancy Resolution in Trimanual vs. Bimanual Tracking Tasks (in press)

Author(s): A. Sanmartin-Senent, N. Peña-Perez, E. Burdet and J. Eden
Published in: Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2023 (in press)., 2023
Publisher: IEEE

A virtual reality planorm to evaluate the effects of supernumerary limbs’ appearance

Author(s): Z. Jiang, Y. Huang, J. Eden, E. Ivanova, X. Cheng and E. Burdet
Published in: Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2023 (in press)., 2023
Publisher: IEEE

Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots

Author(s): M Khoramshahi, G Morel and N Jarrasse
Published in: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021Xi'an30 May 2021through 5 June 2021, 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561351

Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks

Author(s): N. Peña-Perez, J. Eden, E. Burdet, I. Farkhatdinov and A. Takagi
Published in: 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2022Glasgow11 July 2022through 15 July 2022, 2022
Publisher: IEEE
DOI: 10.1109/embc48229.2022.9871013

Cartesian Space Feedback for Real Time Tracking of a Supernumerary Robotic Limb: a Pilot Study

Author(s): M. Pinardi, L. Raiano, A. Noccaro, D. Formica, G. Di Pino
Published in: 2021 10th International IEEE/EMBS Conference on Neural Engineering (NER), 2021, Page(s) 889-892, ISBN 978-1-7281-4337-8
Publisher: IEEE
DOI: 10.1109/ner49283.2021.9441174

A Practical Control Approach for Safe Collaborative Supernumerary Robotic Arms

Author(s): Khoramshahi, Mahdi; Poignant, Alexis; Morel, Guillaume; Jarrasse, Nathanael
Published in: Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSOVolume 2023-June, Pages 147 - 1522023 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023Berlin5 June 2023through 7 June 2023, 2023, ISBN 978-1-6654-6424-6
Publisher: IEEE Institute of Electrical and Electronics Engineers
DOI: 10.1109/arso56563.2023.10187452

How long does it take to learn trimanual coordination?

Author(s): Arnaud Allemang--Trivalle; Jonathan Eden; Ekaterina Ivanova; Yanpei Huang; Etienne Burdet
Published in: 31st IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2022Napoli29 August 2022through 2 September 2022Code 183330, 2022
Publisher: IEEE
DOI: 10.1109/ro-man53752.2022.9900646

Evaluation of a 7-DoFs Robotic Manipulator as Haptic Interface During Planar Reaching Tasks

Author(s): Noccaro, Alessia; Buscaglione, Silvia; Pinardi, Mattia; Di Pino, Giovanni; Formica, Domenico
Published in: IEEE International Conference on Intelligent Robots and SystemsPages 5095 - 51002023 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023Detroit1 October 2023through 5 October 2023, 2023, ISSN 2153-0858
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/iros55552.2023.10342470

Comparing different vibrotactile strategies to encode motor units’ activation states

Author(s): Deiana, D., Pinardi, M., Noccaro, A., Iandoli, M., Formica, D., Di Pino, G.
Published in: ICRA 2023 Workshop on the robotics and neuroscience of supernumerary limbs, Poster session., 2023
Publisher: Imperial College London

Somatosensory Attenuation as a marker for Embodiment of Supernumerary Robotic Limbs

Author(s): Pinardi, M., Maciejewska, K., D’Alonzo, M., Di Pino, G
Published in: ICRA 2023 Workshop on the robotics and neuroscience of supernumerary limbs, Poster session., 2023
Publisher: Imperial College London

Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics

Author(s): A Poignant, N Jarrassé and G Morel
Published in: arXiv preprint arXiv 2211.08483 2023, 2023
Publisher: Cornell University
DOI: 10.48550/arxiv.2211.08483

Deliverables

Publications

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