Fusion of Inertial Measurements and Vision Feedback for Microsurgery

Advances in Intelligent Systems and Computing - Intelligent Autonomous Systems 12 ◽

10.1007/978-3-642-33932-5_4 ◽

2013 ◽

pp. 27-35 ◽

Cited By ~ 1

Author(s):

Yan Naing Aye ◽

Su Zhao ◽

Cheng Yap Shee ◽

Wei Tech Ang

Keyword(s):

Inertial Measurements ◽

Vision Feedback

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Reference in-vitro dataset for inertial-sensor-to-bone alignment applied to the tibiofemoral joint

Scientific Data ◽

10.1038/s41597-021-00995-8 ◽

2021 ◽

Vol 8 (1) ◽

Author(s):

Ive Weygers ◽

Manon Kok ◽

Thomas Seel ◽

Darshan Shah ◽

Orçun Taylan ◽

...

Keyword(s):

Inertial Sensors ◽

Inertial Sensor ◽

Ground Truth ◽

Transformation Matrices ◽

True Model ◽

Advance Research ◽

Manual Palpation ◽

Visualization Tools ◽

Inertial Measurements

AbstractSkin-attached inertial sensors are increasingly used for kinematic analysis. However, their ability to measure outside-lab can only be exploited after correctly aligning the sensor axes with the underlying anatomical axes. Emerging model-based inertial-sensor-to-bone alignment methods relate inertial measurements with a model of the joint to overcome calibration movements and sensor placement assumptions. It is unclear how good such alignment methods can identify the anatomical axes. Any misalignment results in kinematic cross-talk errors, which makes model validation and the interpretation of the resulting kinematics measurements challenging. This study provides an anatomically correct ground-truth reference dataset from dynamic motions on a cadaver. In contrast with existing references, this enables a true model evaluation that overcomes influences from soft-tissue artifacts, orientation and manual palpation errors. This dataset comprises extensive dynamic movements that are recorded with multimodal measurements including trajectories of optical and virtual (via computed tomography) anatomical markers, reference kinematics, inertial measurements, transformation matrices and visualization tools. The dataset can be used either as a ground-truth reference or to advance research in inertial-sensor-to-bone-alignment.

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Designing a tangible solution to encourage playful hand usage for children with cerebral palsy

Current Directions in Biomedical Engineering ◽

10.1515/cdbme-2020-2008 ◽

2020 ◽

Vol 6 (2) ◽

Author(s):

Christina Mittag ◽

Regina Leiss ◽

Katharina Lorenz ◽

Dagmar Siebold

Keyword(s):

Cerebral Palsy ◽

Support System ◽

Functional Test ◽

Intensive Training ◽

Affected Side ◽

Motivational Support ◽

Children With Cerebral Palsy ◽

Unilateral Cerebral Palsy ◽

Arm Function ◽

Inertial Measurements

AbstractChildren with unilateral cerebral palsy (CCP) benefit from intensive training with the affected side. The SHArKi project strives for a motivational support system, using wristbands with inertial measurements units (IMU) to measure arm function, providing biofeedback as well as motivating stimuli. To consider finger and wrist movements as well, this paper covers concepts for a tangible solution and its first implementation including the gamification development. Finalizations of the demonstrator, an overall functional test as well as concluding feedback from CCP are pending.

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Trajectory representation and landmark projection for continuous-time structure from motion

The International Journal of Robotics Research ◽

10.1177/0278364919839765 ◽

2019 ◽

Vol 38 (6) ◽

pp. 686-701 ◽

Cited By ~ 1

Author(s):

Hannes Ovrén ◽

Per-Erik Forssén

Keyword(s):

Structure From Motion ◽

Continuous Time ◽

Spline Interpolation ◽

Time Structure ◽

Robot Arm ◽

Good Sense ◽

Trajectory Representation ◽

Inertial Measurements ◽

Derivatives Of ◽

Fusion Framework

This paper revisits the problem of continuous-time structure from motion, and introduces a number of extensions that improve convergence and efficiency. The formulation with a [Formula: see text]-continuous spline for the trajectory naturally incorporates inertial measurements, as derivatives of the sought trajectory. We analyze the behavior of split spline interpolation on [Formula: see text] and on [Formula: see text], and a joint spline on [Formula: see text], and show that the latter implicitly couples the direction of translation and rotation. Such an assumption can make good sense for a camera mounted on a robot arm, but not for hand-held or body-mounted cameras. Our experiments in the Spline Fusion framework show that a split spline on [Formula: see text] is preferable over an [Formula: see text] spline in all tested cases. Finally, we investigate the problem of landmark reprojection on rolling shutter cameras, and show that the tested reprojection methods give similar quality, whereas their computational load varies by a factor of two.

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