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

Human operators have the trend of increasing physical and mental workloads when performing teleoperation tasks in uncertain and dynamic environments. In addition, their performances are influenced by subjective factors, potentially leading to operational errors or task failure. Although agent-based methods offer a promising solution to the above problems, the human experience and intelligence are necessary for teleoperation scenarios. In this paper, a truncated quantile critics reinforcement learning-based integrated framework is proposed for human–agent teleoperation that encompasses training, assessment and agent-based arbitration. The proposed framework allows for an expert training agent, a bilateral training and cooperation process to realize the co-optimization of agent and human. It can provide efficient and quantifiable training feedback. Experiments have been conducted to train subjects with the developed algorithm. The performances of human–human and human–agent cooperation modes are also compared. The results have shown that subjects can complete the tasks of reaching and picking and placing with the assistance of an agent in a shorter operational time, with a higher success rate and less workload than human–human cooperation.

Efficacy of bilateral lower limb training over unilateral to re-educate balance and walking in post stroke survivors: a protocol for randomized clinical trial

Background: Stroke is the leading cause of global morbidity and a major contributor to disability. According to the National Stroke Association, as many as 9 out of 10 stroke survivors have some degree of paralysis immediately after the stroke. Aim is to evaluate the level to which the bilateral lower limb training compared to unilateral alone, reinforces the lower limb functional recovery in the subjects with sub-acute stroke.Methods: The participants (n=40) with subacute stroke will be included in assessor blinded, randomized clinical trial. Participants will be categorized into 2 groups after performing baseline assessments and equal randomization. The participants in Group A will receive only training to the affected side, and those in the Group B will receive bilateral training. We will be evaluating the improvement in lower limb function by balance and walking along with gait parameters.Discussion: Findings of the study will provide further insight into the effectiveness of bilateral training over unilateral in post stroke survivors. If this study is proved to be effective it will improve the balance and gait impairments in post stroke patients.The clinical trial registry-India(CTRI) registration number for this trial is CTRI/2021/05/033621.

Unilateral and bilateral training competitive archers differ in some potentially unhealthy neck-shoulder region movement behaviour characteristics

Background Excessive unilateral joint loads may lead to overuse disorders. Bilateral training in archery is only performed as a supportive coordination training and as a variation of typical exercise. However, a series of studies demonstrated a crossover transfer of training-induced motor skills to the contralateral side, especially in case of mainly unilateral skills. We compared the cervical spine and shoulder kinematics of unilateral and bilateral training archers. Methods In this cross-sectional study, 25 (5 females, 48 ± 14 years) bilaterally training and 50 age-, sex- and level-matched (1:2; 47.3 ± 13.9 years) unilaterally training competitive archers were included. Cervical range of motion (RoM, all planes) and glenohumeral rotation were assessed with an ultrasound-based 3D motion analysis system. Upward rotation of the scapula during abduction and elevation of the arm were measured by means of a digital inclinometer and active shoulder mobility by means of an electronic caliper. All outcomes were compared between groups (unilaterally vs. bilaterally) and sides (pull-hand- vs. bow-hand-side). Results Unilateral and bilateral archers showed no between group and no side-to-side-differences in either of the movement direction of the cervical spine. The unilateral archers had higher pull-arm-side total glenohumeral rotation than the bilateral archers (mean, 95% CI), (148°, 144–152° vs. 140°, 135°-145°). In particular, internal rotation (61°, 58–65° vs. 56°, 51–61°) and more upward rotation of the scapula at 45 degrees (12°, 11–14° vs. 8°, 6–10°), 90 degrees (34°, 31–36° vs. 28°, 24–32°), 135 degrees (56°, 53–59° vs. 49°, 46–53°), and maximal (68°, 65–70° vs. 62°, 59–65°) arm abduction differed. The bow- and pull-arm of the unilateral, but not of the bilateral archers, differed in the active mobility of the shoulder (22 cm, 20–24 cm vs. 18 cm, 16–20 cm). Conclusions Unilaterally training archers display no unphysiologic movement behaviour of the cervical spine, but show distinct shoulder asymmetris in the bow- and pull-arm-side when compared to bilateral archers in glenohumeral rotation, scapula rotation during arm abduction, and active mobility of the shoulder. These asymmetries in may exceed physiological performance-enhancing degrees. Bilateral training may seems appropriate in archery to prevent asymmetries.

Influence of the upper limb motor deficit on the functional independence in patients with cerebral palsy

Cerebral palsies (CPs) disturb the voluntary movement control at extremities’ level, entailing various disability degrees. In over 80% of the CP cases there is an upper limb disorder, mainly manifested by the decrease in hand control and the presence of contractures, which, in time, lead to the adoption of abnormal postures which affect the abilities of the CP patients’ hands. The aim of this study was to identify the way the motor deficit at upper limb level – reflected by coordination disturbances and by the condition of the three fingered (tripod) grasp – influences the CP patient’s functional independence. The study demonstrated the existence of significant correlations between Functional Independence Measure (FIM) score, coordination and three fingered grasp. It was proven that the unilateral coordination dysfunctions have a strong negative influence on the coordination of the opposite side and lead to a decrease of the functional independence level. Therefore, the rehabilitation treatment is recommended to be based on a bilateral training, both in order to improve coordination and to obtain a functional level of the three fingered grasp power and of the physiological amplitude at wrist flexion level.

A Soft Exoskeleton Glove for Hand Bilateral Training via Surface EMG

Traditional rigid exoskeletons can be challenging to the comfort of wearers and can have large pressure, which can even alter natural hand motion patterns. In this paper, we propose a low-cost soft exoskeleton glove (SExoG) system driven by surface electromyography (sEMG) signals from non-paretic hand for bilateral training. A customization method of geometrical parameters of soft actuators was presented, and their structure was redesigned. Then, the corresponding pressure values of air-pump to generate different angles of actuators were determined to support four hand motions (extension, rest, spherical grip, and fist). A two-step hybrid model combining the neural network and the state exclusion algorithm was proposed to recognize four hand motions via sEMG signals from the healthy limb. Four subjects were recruited to participate in the experiments. The experimental results show that the pressure values for the four hand motions were about −2, 0, 40, and 70 KPa, and the hybrid model can yield a mean accuracy of 98.7% across four hand motions. It can be concluded that the novel SExoG system can mirror the hand motions of non-paretic hand with good performance.

Novel integrative rehabilitation system for the upper extremity: Design and usability evaluation

Purpose Design and test the usability of a novel virtual rehabilitation system for bimanual training of gravity supported arms, pronation/supination, grasp strengthening, and finger extension. Methods A robotic rehabilitation table, therapeutic game controllers, and adaptive rehabilitation games were developed. The rehabilitation table lifted/lowered and tilted up/down to modulate gravity loading. Arms movement was measured simultaneously, allowing bilateral training. Therapeutic games adapted through a baseline process. Four healthy adults performed four usability evaluation sessions each, and provided feedback using the USE questionnaire and custom questions. Participant’s game play performance was sampled and analyzed, and system modifications made between sessions. Results Participants played four sessions of about 50 minutes each, with training difficulty gradually increasing. Participants averaged a total of 6,300 arm repetitions, 2,200 grasp counts, and 2,100 finger extensions when adding counts for each upper extremity. USE questionnaire data averaged 5.1/7 rating, indicative of usefulness, ease of use, ease of learning, and satisfaction with the system. Subjective feedback on the custom evaluation form was 84% favorable. Conclusions The novel system was well-accepted, induced high repetition counts, and the usability study helped optimize it and achieve satisfaction. Future studies include examining effectiveness of the novel system when training patients acute post-stroke.

Means of bilateral teaching in the training of girls and juniors in boxing

Increased competition in womens boxing makes trainers to look for avarious ways for improving technical and tactical training and variability of actions during a boxing fight. Experts have proven that increasing the level of technical and tactical mastery is possible while reducing the level functional asymmetry. Purpose. To determine the ways’ of bilateral training for girls of 12-15 who are going in for boxing. Methods. Theoretical analysis of scientific and special literature. Data generalizations. Results. It has been studied the scientific works on specialties: sports medicine, sports physiology, sports psychology, theory and methods of physical education, ways’ of bilateral training in various sports. Opinions of specialists working in various sports including martial arts and boxing have been taken into account. Identified: the difference in age recommendations when teaching bilateral method, the value of individual asymmetry profile (IAP) while learning movements, the influence of phases of the menstrual cycle (MC) to the development of movements, insufficient description of the use of this method in special and scientific literature on boxing when training girls at the age of 12-15 years. Influence of functional asymmetry (FA) on: training process in sports in general and directly in boxing, mastering of physical exercises, development of physical qualities. Impartiality of determining the dominant functional side for mastering special boxing exercises only on the basis of the dominance of the limb. Different approaches to FA smoothing. Determined: optimal age for mastering technical - tactical exercises in boxing, a certain tendency of girls and juniors to master asymmetric exercises in boxing training, optimal physical exercises for smoothing FA depending on the period of long - term training of the athlete. Conclusions. When learning bilaterally, it is necessary to: determine the individual profile (IPA) of the individual, as well as take into account the phases of the menstrual cycle (MC). It is difficult to take into account the IPA in each new study of coordination, special exercises. Constantly change the means of submission the training task. Begin training with this method in certain sensitive periods only after mastering the exercise by the dominant party.