Medical & rehabilitation robotics research at lara

1. Rede Sarah 30/05/2012 Medical & rehabilitation robotics research at lara AntônioPadilhaLanariBó

2. Automation and Robotics Laboratory (LARA) • Members • 14 faculty • ±30 graduate students • ±50 undergraduate students • Research areas • Ambient intelligence • Control, identification and filtering • Process automation • Robotics

3. Surgical and rehab robotics at LARA • Surgical robotics • Robotic needle steering • Heart motion estimation • Rehab robotics • Lower limb prosthesis for amputees • Closed-loop Functional Electrical Stimulation • Motion estimation using Kinect and inertial sensing • Augmented communication • Human-robot interaction • Neuromusculoskeletal modeling and motion analysis

4. Surgical and rehab robotics at LARA • Local partners • Biomedical engineering laboratory (LaB, UnB) • Health science & technology (FCE, UnB) • Minas Gerais Federal University (UFMG) • Espírito Santo Federal University (UFES) • International partners • LIRMM & INRIA Sophia Antipolis, France • Pontifica Universidad Catolica, Peru • Technische Universität Kaiserslautern, Germany • MERS/CSAIL/MIT, USA • Universidad de Oriente, Cuba

5. Surgical robotics Methods for robot-asstisted minimally-invasive surgery

6. Robotic-aided needle steering By Mariana Bernardes, Bruno V. Adorno et al.

7. Robotic-aided needle steering • Needle steering with adaptive path planning By Mariana Bernardes, Bruno V. Adorno et al.

8. Heart motion estimation • Heart 3D reconstruction using region-based visual tracking By Rogério Richa et al.

9. Modeling the heart motion • Drawbacks • Occlusions • Reflections • Solution • Model beating heart • Integrate predicted motion with visual tracking By Rogério Richa, Antônio P. L. Bó et al.

10. Robust heart motion tracking By Rogério Richa, Antônio P. L. Bó et al.

11. Rehabilitation robotics Sensing systems for human motion estimation Kinematics & dynamical analysis Neuromusculoskeletal modeling Actuation technologies affecting human motion Human-robot interaction

12. Robotic prosthesis for lower limb amputees • Transfemural & transtibial • From 2004 to 2010 • Hardware development • Sensing systems • Joint angles • Inertial sensing • Ultrasound for foot orientation • Estimation algorithms • Control strategies Nonfunctional prototype By Glauco Scandaroli, Geovany A. Borges et al.

13. Robotic prosthesis control By Glauco Scandaroli, Thiago Rocha et al.

14. Robotic prosthesis for amputees • Next steps • Compliant actuation • Closed-loop control based on gait model • Functional prototype • Related work • Active orthesis for gait rehabilitation & correction • Insole measurements for monitoring & diagnose By Claudia P. Ochoa Diaz, Roberto Baptista et al.

15. Foot orientation using range sensors By Glauco Scandaroli, Geovany Borges et al.

16. Attitude estimation using inertial sensing • Low-cost sensors • Accelerometer • Gyrometer • Magnetometer • Integration algorithm • Extended Kalman Filter • Quaternions • Pseudomeasure • TRIAD By Antônio Padilha L. Bó et al.

17. Integrating inertial sensing and Kinect • Automatic inertial sensors calibration for portable applications By Antônio Padilha L. Bó, Mitsuhiro Hayashibe et al.

18. Augmentative & alternative communication • Alternative solution for disabled people • Communicating with others • Using the computer By Carlos Gonçalves

19. Augmentative & alternative communication • Current solution • Viola to identify user and provide initial estimation • EKF for motion tracking • Simple motion model in prediction step • Feature-based visual tracking in correction step By Carlos Gonçalves

20. Augmentative & alternative communication • Perspectives • Region-based visual tracking • Separation of voluntary and involuntary motion • Gesture detection By Carlos Gonçalves & Antônio P. L. Bó

21. Online pathological tremor estimation • Application • Diagnosis & monitoring By Antônio Padilha L. Bó, et al.

22. Online pathological tremor estimation • Application • Active compensation By Antônio Padilha L. Bó, et al.

23. Active tremor compensation By Antônio Padilha L. Bó, et al.

24. Active tremor compensation • Validation on nonimpaired subjects before clinical trials By Antônio Padilha L. Bó, et al.

25. Functional Electrical Stimulation (FES) • Closed-loop control for motion restoration & rehabilitation By Antônio Padilha L. Bó, Christine Azevedo-Coste et al.

26. Dynamical systems identification • Efficient methods for system initialization & online identification By Antônio Padilha L. Bó, et al.

27. Neuromusculoskeletal modeling • Example application • Predicting stimulation response with complex model By Antônio Padilha L. Bó, et al.

28. Neuromusculoskeletal modeling • Software tools currently used • OpenSim • Visual 3D Source: OpenSim

29. Gait modeling for bipedal locomotion • Hybrid dynamical system for modeling • Phases within a step • Different modes of locomotion By Claudia P. Ochoa Diaz et al.

30. Human-robot interaction • Algorithms for coordinating human and robot motion to perform collaborative tasks By Bruno V. Adorno, Antônio P. L. Bó et al.

31. Human-robot interaction • Application people with severe disabilities • Robot partially controls human arm motion By Bruno V. Adorno, Antônio P. L. Bó et al.