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  • 1. Avizzano, C.A.
    et al.
    Raspolli, M.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Marcheshi, S.
    Bergamasco, M.
    Haptic Desktop for Office Automation and Assisted Design2005Inngår i: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2005, s. 4086-4091Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The present paper describes the conceptual and technical design of a new multimodal device named Haptic Desktop System (HDS). Haptic Desktop System is an integrated system, which merges haptic functionalities, and VDT systems into one. Specific care has been given to HDS design for enhancing and improving human-computer interaction from the following points of view: esthetical, ergonomic and functional. In order to improve the quality of the interaction, the HDS fully integrates proprioceptive, visual, audio and haptic functionalities, into a desk while minimizing the visual interference of the physical components. In the proposed approach classic input devices (i.e. keyboard and mouse) have been replaced by new features integrated within audio and haptic. Such features allow commanding and rendering natural force stimuli in such a way that they are completely coherent and co-located with respect to the visual information. The new features of the HDS are designed for reducing considerably the mental load required to the users during interaction operations. In the present paper the design guidelines and the achieved results are reported

  • 2. Avizzano, C.A.
    et al.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Frisoli, A.
    Bergamasco, M.
    Motor Learning Skill Experiments Using Haptic Interface Capabilities2002Inngår i: 11th IEEE International Workshop on Robot and Human Interactive Communication. Proceedings., IEEE , 2002, s. 198-203Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper investigated the influence that proportional feedback programmed into haptic interface (HI) can have in the development of motor skills. The haptic interface design, adapted to the task to be performed, plays a key role inside motor learning processes as the kinesthetic and proprioceptive are the information pathway in the perception of incoming stimuli. Subjects learned to draw a shape using two kinds of training methods: visual, visual and haptic. The error position distance was measured and a statistical analysis was done in order to identify user's motion improvement when training trials were alternated with practice trials. In order to constraint the user to draw a predefined path, a control law is presented.

  • 3. Chida, K.
    et al.
    Okuma, I.
    Isoda, S.
    Saisu, Y.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Takanobu, H.
    Wakamatsu, K.
    Takanishi, A.
    Development of the new anthropomorphic flutist robot WF-42004Inngår i: ICRA '04. 2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings.: Volume 1, 2004, Vol. 1, s. 152-157Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Since 1990, we have been developing anthropomorphic flutist robots, which are mechanically similar to human organs needed for playing the flute. The goal of this research is to clarify the flute playing mechanism from an engineering point of view and to enable the communication with humans at emotional level. The control of the air beam parameters for obtaining a good sound is very important. Such parameters are related mainly to the lips shape and its relative position respect to the flute embouchure hole. Then, the newest version of the anthropomorphic flutist robot WF-4 has been implemented by improving the design of each part of the robot (lips, lungs, neck, etc.). This new version has succeeded in the improvement of the flute sound quality and the sound conversion efficiency. We describe the mechanical features of the WF-4 and the experiments done for evaluating its musical performance

  • 4.
    De Vin, Leo
    et al.
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Solis, JorgeKarlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Proceedings of the 14th Mechatronics Forum International Conference Mechatronics 20142014Konferanseproceedings (Fagfellevurdert)
  • 5.
    Garcia, Gustavo
    et al.
    Nara Institute of Science and Technology.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    Takamatsu, J.
    Nara Institute of Science and Technology.
    Ogasawara, T.
    Nara Institute of Science and Technology.
    Quantitative Comfort Evaluation of Eating Assistive Devices based on Human Effort Estimation using an Accelerometer2019Konferansepaper (Fagfellevurdert)
  • 6. Garcia Ricardez, G. A.
    et al.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    Takamatsu, J.
    Ogasawara, T.
    Interaction Force Estimation for Quantitative Comfort Evaluation of an Eating Assistive Device2018Inngår i: HRI '18 Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, Association for Computing Machinery (ACM), 2018, s. 113-114Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Robots usage in the fields of human support and healthcare is wide-spreading. Robotic devices to assist humans in the self-feeding task have been developed to help patients with limited mobility in the upper limbs but the acceptance of these robots has been limited. In this work, we investigate how to quantitatively evaluate the comfort of an eating assistive device by estimating the interaction forces between the human and the robot when eating. We experimentally verify our concept with a commercially-available eating assistive device and a human subject. The evaluation results demonstrate the feasibility of our approach.

  • 7.
    Garcia Ricardez, Gustavo Alfonso
    et al.
    Nara Institute of Science and Technology, Japan.
    Takamatsu, Jun
    Nara Institute of Science and Technology, Japan.
    Ogasawara, Tsukasa
    Nara Institute of Science and Technology, Japan.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    Quantitative Comfort Evaluation of Eating Assistive Devices based on Interaction Forces Estimation using an Accelerometer2018Inngår i: RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, IEEE, 2018, s. 909-914Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Robot usage in the fields of human support and healthcare is expanding. Robotic devices to assist humans in the self-feeding task have been developed to help patients with limited mobility in the upper limbs but the acceptance of these robots has been limited. In this work, we investigate how to quantitatively evaluate the comfort of an eating assistive device by estimating the interaction forces between the human and the robot when eating. Rather than using expensive or commercially unavailable devices to directly measure the forces involved in feeding, we use an accelerometer to estimate these forces, which are calculated using a previously observed estimation of the system mass and the measured acceleration during the feeding process. We experimentally verify our concept with a commercially-available eating assistive device and a human subject. The evaluation results demonstrate the feasibility of our approach.

  • 8.
    Kin Huat, Low
    et al.
    Nanyang Technological University .
    Vaidyanathan, R.
    Imperial College London.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Seipel, J.
    Purdue University.
    Contribution Toward Future Biorobotics2012Inngår i: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 19, nr 2, s. 16-17Artikkel, forskningsoversikt (Annet (populærvitenskap, debatt, mm))
  • 9. Koga, H.
    et al.
    Usuda, Y.
    Matsuno, M.
    Ogura, Y.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Takanishi, A.
    Katsumata, A.
    Development of an Oral Rehabilitation Robot2008Inngår i: Gerontechnology, ISSN 1569-111X, Vol. 7, nr 2, s. 142-142Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    It is well known that the massage therapy is useful for the rehabilitation of various diseases. Althoughvarious apparatus have been developed for the massage of the torso and limbs, a machineto perform precise massage therapy to maxillofacial region is not developed yet.Therefore, we developed a robot system that provides massage therapy to the maxillofacialregion. The name of our newly developed robot was WAO-1. WAO-1 has been designedto perform appropriate massage to the patients with dry mouth. System descriptionThe mechanism of WAO-1 consists of two main parts: robot arms and the plungerdevice. The robot arms consist of two 6-DOF (degrees of freedom) manipulators used tocontrol the movement of the plunger device attached to the end-effector of each manipulator(Figure 1). The plunger device is the only part of the robot having direct contact withthe patient face. In order to control the motion of the plungers attached at each arm ofWAO-1, a position control system is implemented. The control system of WAO-1 is composedby a Massage Pattern Generator and Virtual Compliance Control1. Method Anevaluation experiment of WAO-1 is performed. In this experiment, WAO-1 provides themassage to 6 healthy volunteers (without any maxillofacial disorders). Each subject isprovided the massage to its parotid gland for 2 minutes. In order to confirm the effectivenessof the massage provide by WAO-1, the production of saliva was considered as aperformance index. This index is measured by using the Saxon test2; which is a standardmethod to confirm the effectiveness of the massage therapy. Results and discussionThe average production of saliva was increased by 0.63 g after providing the massage. Byanalyzing the collected data with a t-test, we found a significant difference (p < 0.05). Thusthe effectiveness of the massage to the parotid gland by WAO-1 is confirmed. On theother hand, when the doctor gives the massage to the parotid gland of the people, productionof saliva increases 1.4 g (average of 6 people). Therefore, the effect of WAO-1’s massageis less than that of doctor’s massage. We developed a robot system (WAO-1) whichcan massage the face. We think clinical trial is necessary to collect the data to certify theeffectiveness of robotic massage. The goal of this study is to establish robot massagetherapy as physiotherapy.

  • 10. Koga, H.
    et al.
    Usuda, Y.
    Matsuno, M.
    Ogura, Y.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Takanishi, A.
    Katsumata, A.
    Development of an Oral Rehabilitation Robot for Massage Therapy2007Inngår i: Information Technology Applications in Biomedicine, 2007. ITAB 2007. 6th International Special Topic Conference on, IEEE , 2007, s. 111-114Konferansepaper (Fagfellevurdert)
    Abstract [en]

    It is well known that the massage therapy is useful for the rehabilitation of various diseases. Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. Therefore, we developed a robot system that provides massage therapy to maxillofacial region. The name of our newly developed robot was WAO-1. WAO-1 has been designed to perform appropriate massage to the patients with dry mouth, etc. WAO-1 is composed by two 6-degree of freedom arms with plungers attached at the end-effectors. The massage is applied to the patient by controlling the force and position of the plunger (virtual compliance). As a preliminary step of the clinical application, a simulation therapy of robotic massage to stimulate salivary flow from parotid gland was performed. The dynamic force on patient's head during the massage using WAO-1 was evaluated. The results suggested that WAO-1 could perform equivalent massage to human hand. We expect that WAO-1 will be useful to provide massage therapy to several patients with oral health problems. This will aim in reducing the therapy costs due to the need of human efforts when long-time therapies are needed

  • 11. Koga, H.
    et al.
    Usuda, Y.
    Matsuno, M.
    Ogura, Y.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Takanishi, A.
    Katsumata, A.
    Development of Oral-Rehabilitation Robot2008Konferansepaper (Fagfellevurdert)
  • 12. Koga, H.
    et al.
    Usuda, Yuichi
    Matsuno, M.
    Ogura, Y.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Takanishi, A.
    Katsumata, A.
    Development of a Massage Robot Designed to Provide Massage Manipulation for Medical Therapy in Patients with Oral Health Problems2008Konferansepaper (Fagfellevurdert)
  • 13. Koga, Hiroki
    et al.
    Usuda, Yuichi
    Matsuno, Masao
    Ogura, Yu
    Ishii, Hiroyuki
    Solis, Jorge
    Takanishi, Atsuo
    Katsumata, Akitoshi
    Development of the Oral Rehabilitation Robot WAO-12008Inngår i: BioRob 2008. 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008. Proceedings, IEEE conference proceedings, 2008, s. 556-561Konferansepaper (Fagfellevurdert)
    Abstract [en]

    It is well known that the massage therapy is useful for the rehabilitation of various diseases; i.e. oral health problems, etc. Authors have proposed the development of a novel rehabilitation robot designed to provide massage to maxillofacial region (as a therapy to patients with dry mouth, etc.). In this year, we have succeeded in developing the Waseda-Asahi oral-rehabilitation robot No.1 (WAO-1). WAO-1 is composed by two 6-DOF arms with plungers attached at their end-effector. A virtual compliance control has been implemented to control the positioning and the applied force by the plunger during the massage. Preliminary experiments were carried out to confirm the effectiveness of the proposed system. From the experimental results, we could detect the effectiveness of stimulating the production of saliva, and increasing the skin temperature as well as the size of masseter muscle on volunteers after providing the massage with WAO-1.

  • 14.
    Nakadate, Ryu
    et al.
    Japan.
    Matsunaga, Yoshiki
    Japan.
    Solis, Jorge
    Japan.
    Takanishi, Atsuo
    Japan.
    Minagawa, Eiichi
    Japan.
    Sugawara, Motoaki
    Japan.
    Niki, Kiyomi
    Japan.
    Development of a robot assisted carotid blood flow measurement system2011Inngår i: Mechanism and machine theory, ISSN 0094-114X, E-ISSN 1873-3999, Vol. 46, nr 8, s. 1066-1083Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed.

  • 15.
    Nakadate, Ryu
    et al.
    Japan.
    Solis, Jorge
    Japan.
    Takanishi, Atsuo
    Minagawa, Eiichi
    Japan.
    Sugawara, Motoaki
    Japan.
    Niki, Kiyomi
    Japan.
    Out-of-Plane Visual Servoing Method for Tracking the Carotid Artery with a Robot-Assisted Ultrasound Diagnostic System2011Inngår i: 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2011Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Up to now, there are different kinds of robot-assisted ultrasound diagnostic systems proposed in the last decade. However, the compensation of the ultrasound probe position according to the patient movement is still one of the most important and useful functions required for those systems. For this purpose, in this research, we aim at developing an automated diagnostic system for the measurement of the wave intensity which is usually measured at the common carotid artery. In particular, in this paper, we focus on proposing a robust visual servoing method for tracking out-of-plane motion for a robot-assisted medical ultrasound diagnostic system by using a conventional 2D probe. A robotic device which manipulates the ultrasound probe firstly scans a small area around the target position and records several B-mode images at a regular interval. In order to track the out-of-plane motion, an inter-frame block matching method has been proposed and implemented on the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 2 Refined (WTA-2R). A set of experiments was proposed to verify the effectiveness of the proposed method. From the experimental results, we could confirm its robustness while doing the task with real human tissues.

  • 16. Noh, Y.
    et al.
    Nagahiro, K.
    Ogura, Y.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Hatake, K.
    Takanishi, A.
    Development of an Airway Management Training System that Embeds an Array of Sensors on a Conventional Mannequin2007Inngår i: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007, s. 1296-1301Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Airway management is provided by emergency medical technicians or anesthetists in order to save unconscious patients who are unable to breathe. Even though it is a basic technique, many accidents may occur when the procedure is not provided followed. In order to avoid any risks to patients, emergency medical technicians are required to practice airway management using training devices such as mannequins; which are designed to accurately reproduce the human anatomy. However, such training devices do not provide any quantitative information about the learning progress of trainees (passive training). For that purpose, we have proposed the development of a airway management training system which is designed to embed array of sensors so that quantitative information of trainees' performance can be acquired. In this paper, we are presenting the Waseda-KyotoKagaku airway No. 1 (WKA-1). The WKA-1 consists of three different kinds of array of sensors which are embedded into a conventional mannequin. In order to embed the array of sensors, we have simplified the design of some of the simulated organs (upper airway, oral cavity, tongue and teeth) of the mannequin. A set of evaluation parameters were proposed based on the information collected through the sensors. A set of experiments were proposed to experimentally verify the effectiveness of the proposed evaluation parameters to quantitatively detect differences among different levels of skills (anesthetists and unskilled persons).

  • 17. Noh, Y.
    et al.
    Nagahiro, K.
    Ogura, Y.
    Solis, Jorge
    Takanishi, A.
    Development of an Airway Management Training System2006Konferansepaper (Fagfellevurdert)
  • 18. Noh, Y.
    et al.
    Segawa, M.
    Shimomura, A.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Hatake, K.
    Takanishi, A.
    Determination of Effective Evaluation Parameters on the Airway Management Training System WKA-1R2008Inngår i: Gerontechnology, ISSN 1569-1101, Vol. 7, nr 2, s. 174-174Artikkel i tidsskrift (Fagfellevurdert)
  • 19. Noh, Y.
    et al.
    Segawa, M.
    Shimomura, A.
    Ishii, H.
    Solis, Jorge
    Hatake, K.
    Takanishi, A.
    Determination of Effective Evaluation Parameters on the Airway Management Training System WKA-1R2008Konferansepaper (Fagfellevurdert)
  • 20. Noh, Y.
    et al.
    Segawa, M.
    Shimomura, A.
    Ishii, H.
    Solis, Jorge
    Hatake, K.
    Takanishi, A.
    Development of the Evaluation System for the Airway Management Training System WKA-1R2008Konferansepaper (Fagfellevurdert)
  • 21. Noh, Y.
    et al.
    Segawa, M.
    Shimomura, A.
    Ishii, H.
    Solis, Jorge
    Hatake, K.
    Takanishi, A.
    Improvements on the sensor system on the WKA-1R to identify the evaluation parameters of the airway management2008Konferansepaper (Fagfellevurdert)
  • 22. Noh, Y.
    et al.
    Segawa, M.
    Shimomura, A.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Hatake, K.
    Takanishi, A.
    Reproducing Difficulties of Airway Management on Patients with Restricted Mouth Opening using the WKA-12007Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Airway management is provided by emergency medical technicians or anesthetists in order to save unconscious patients under emergency situations. Even though airway management is basic skill, there may be some difficulties while performing airway management to patients with abnormalities. Therefore, it is important to train medical students to perform such a task on patients with abnormalities. Recently, many companies are developing airway training mannequins designed to reproduce the conditions of the airway management procedure. However, such training devices cannot provide any quantitative information of the training progress so that few amount of feedback can be provided to trainees. For this purpose, we have proposed the development of an airway management training system which has been designed to embed sensors into a conventional mannequin. As a result, we have developed the Waseda-Kyotokagaku airway No. 1 (WKA-1). In this paper, the WKA-1 was used to reproduce the airway management on patients with abnormalities on jaw opening. For this purpose, we have added an array of springs to simulate those abnormalities. Then, we proposed an experiment to detect the differences on performances among doctors (anesthetist) while performing the airway management in patients with and without abnormalities on the jaw opening. Both cases were analyzed quantitatively by using the functionalities of the WKA-1. From the experimental results, we could find a statistically significant difference between both cases

  • 23. Noh, Y.
    et al.
    Segawa, M.
    Shimomura, A.
    Ishii, H.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Hatake, K.
    Takanishi, A.
    WKA-1R robot-assisted quantitative assessment of airway management2008Inngår i: International Journal of Computer Assisted Radiology and Surgery, 3(6): 543-550, ISSN 1861-6410, Vol. 3, nr 6, s. 543-550Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Object

    The emerging field of medical robotics aims tointroduce intelligent tools for physician support. The main challenges for developing efficient medical robotic training systems are simulating real-world conditions of the task and assuring training effectiveness. High anatomic fidelity has been achieved in current systems, but they are limited to provide merely subjective assessments of the training progress. We simulated airway intubation using a unique medical robot and developed objective performance criteria to assess task performance.

    Materials and methods

    A patient simulation robot was designed to mimic real-world task conditions and provide objective assessments of training progress. The Waseda– Kyotokagaku Airway No. 1R (WKA-1R) includes a human patient model with embedded sensors. An evaluation function was developed for the WKA-1R to quantitatively assess task performance. The evaluation includes performance indices and coefficient weighting. The performance indices were defined based on experiments carried out with medical doctors and from information found in the medical literature. The performance indices are: intubation time, jaw opening, incisor teeth force, cuff pressure, tongue force and tube position. To determine the weighting of coefficients, we used discriminant analysis.

    Results

    Experiments were carried out with volunteers to determine the effectiveness of the WKA-1R to quantitatively evaluate their performance while performing airway management. We asked subjects from different levels of expertise (from anesthetists to unskilled) to perform the task. From the experimental results, we determined operator effectiveness using the proposed performance indices. We found a significant difference between the experimental groups by evaluating their performances using the proposed evaluation function (P < 0.05).

    Conclusions

    The WKA-1R robot was designed to quantitatively acquire information on the performances of trainees during intubation procedures. From the experimental results, we could objectively determine operator effectiveness while providing quantitative task assessments.

  • 24.
    Noh, Yohan
    et al.
    Japan.
    Ebihara, Kazuki
    Japan.
    Segawa, Masanao
    Japan.
    Sato, Kei
    Japan.
    Wang, Chunbao
    Japan.
    Ishii, Hiroyuki
    Japan.
    Solis, Jorge
    Japan.
    Takanishi, Atsuo
    Japan.
    Hatake, Kazuyuki
    Japan.
    Shoji, Satoru
    Japan.
    Development of the Airway Management Training System WKA-4: for Improved High-Fidelity Reproduction of Real Patient Conditions, and Improved Tongue and Mandible Mechanisms2011Inngår i: 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2011, s. 1726-1731Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In recent years advanced robotic technology has seen more use in the medical field to assist in the development of efficient training systems. Such training systems must fulfill the following criteria: they must provide quantitative information, must simulate the real-world conditions of the task, and assure training effectiveness. We developed Waseda Kyotokagaku Airway series to fulfill all of those requirements. The WKA series we had developed does not consider external appearance such as patient skin, or internal appearance such as the pharynx, larynx, and esophagus. Moreover, the tongue mechanism of the previous system can not precisely measure the force applied by medical devices and cannot simulate muscle stiffness. In addition, the mandible mechanism of the previous system could not adequately reproduce various airway difficulties or apply force control. For these reasons, we propose the WKA-4, which has high-fidelity simulated human anatomy, and we have improved the mechanism over the previous system. We have also attached a lung to the proposed system to improve simulation of the real-world conditions of the task. In this paper, we present how to design several organs with various embedded sensors and actuators, for a conventional patient model with high-fidelity simulated human anatomy. We also present the control system for the WKA-4. Finally, we present a set of experiments carried out using doctors as subjects, and they gave their valuable opinions about our system.

  • 25.
    Oka, T.
    et al.
    Tokyo Institute of Technology, Tokyo, Japan.
    Matsuura, D.
    Tokyo Institute of Technology, Tokyo, Japan.
    Sugahara, Y.
    Tokyo Institute of Technology, Tokyo, Japan.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    Lindborg, A. L.
    Camanio Care AB, Nacka, Sweden.
    Takeda, Y.
    Tokyo Institute of Technology, Tokyo, Japan.
    Chopstick-type gripper mechanism for meal-assistance robot capable of adapting to size and elasticity of foods2019Inngår i: Mechanisms and Machine Science, ISSN 2211-0984, E-ISSN 2211-0992, Vol. 66, s. 284-292Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper proposed a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and the contact force with the target food according to the size and the elasticity of the food. Solely using position control of the driving motor for the mechanism, this feature was enabled without relying on force sensors. The gripper was designed based on the concept of under-actuation and a planar mechanism with 2 DOF composed of a combination of 2 four-bar mechanisms having a torsion spring in a passive joint. To clarify the gripping motion and relationship among the contact force, food’s size and elasticity, a simulation based on kineto-elasto-static analysis was performed. Finally, to verify the theoretical analysis, a simple prototype was manufactured and an experiment to measure the contact force has been conducted.

  • 26. Oshima, N.
    et al.
    Muhamed, A.
    Midorikawa, R.
    Solis, Jorge
    Ogura, Y.
    Takanishi, A.
    Development of a Ligature/Suture Training System that Provides Quantitative Information on the Learning Process of Trainees2007Konferansepaper (Fagfellevurdert)
  • 27. Oshima, N.
    et al.
    Ogura, Y.
    Solis, Jorge
    Takanishi, A.
    Evaluation System of Surgical Skill2006Konferansepaper (Fagfellevurdert)
  • 28. Oshima, N.
    et al.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Ishii, H.
    Matsuoka, N.
    Hatake, K.
    Takanishi, A.
    Acquisition of Quantitative Data for the Detailed Analysis of the Suture/Ligature Tasks with the WKS-2R2007Inngår i: Information Technology Applications in Biomedicine, 2007. ITAB 2007. 6th International Special Topic Conference on, 2007, s. 107-110Konferansepaper (Fagfellevurdert)
  • 29. Oshima, N.
    et al.
    Solis, Jorge
    Ishii, H.
    Matsuoka, N.
    Hatake, K.
    Takanishi, A.
    Integration of an Evaluation Function into the Suture/Ligature Training System WKS-2R2008Konferansepaper (Fagfellevurdert)
  • 30. Oshima, N.
    et al.
    Solis, Jorge
    Ishii, H.
    Matsuoka, N.
    Hatake, K.
    Takanishi, A.
    Toward an Understanding the Suture/Ligature Skills During the Training process by Using WKS-2RII2008Konferansepaper (Fagfellevurdert)
  • 31. Oshima, N.
    et al.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Ogura, Y.
    Hatake, K.
    Takanishi, A.
    Design of a New Suture/Ligature Evaluation System WKS-22007Konferansepaper (Fagfellevurdert)
  • 32. Petersen, K.
    et al.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik. Humanoid Robotics Institute, Waseda university, Japan.
    Takanishi, A.
    Development of a real-time gestural interface for hands-free musical performance control2008Inngår i: International Computer Music Conference Proceedings, 2008, s. 356-359Konferansepaper (Fagfellevurdert)
  • 33. Petersen, K.
    et al.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Takanishi, A.
    Development of a Real-Time Instrument Tracking System for Enabling the Musical Interaction with the WF-4RIV2008Inngår i: IROS 2008. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008., 2008, s. 3654-3659Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The aim of this paper is to create an interface for human-robot interaction. Specifically, musical performance parameters (i.e. vibrato expression) of the Waseda Flutist Robot No.4 Refined IV (WF-4RIV) are to be manipulated. Our research is focused on enabling the WF-4RIV to interact with human players (musicians) in a natural way. In this paper, as a first approach, a vision processing algorithm, that is able to track the 3D-orientation and position of a musical instrument, was developed. In particular, the robot acquires image data through two cameras attached to its head. Using color histogram matching and a particle filter, the position of the musicianpsilas hands on the instrument are tracked. Analysis of this data determines orientation and location of the instrument. These parameters are mapped to manipulate the musical expression of the WF-4RIV, more specifically sound vibrato and volume values. We present preliminary experiments to determine if the robot may dynamically change musical parameters while interacting with a human player (i.e. vibrato etc.). From the experimental results, we may confirm the feasibility of the interaction during a performance, although further research must be carried out to consider the physical constraints of the flutist robot

  • 34. Petersen, K.
    et al.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Takanishi, A.
    Development of the Waseda Flutist Robot No. 4 Refined IV: Implementation of a Real-Time Interaction System with Human Partners2008Inngår i: 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008): Proceedings of a meeting held 19-22 October 2008, Scottsdale, Arizona., IEEE conference proceedings, 2008, s. 421-426Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The aim of our research is to develop an anthropomorphic flutist robot that on the one hand reproduces the human motor skills required for playing the flute, and on the other hand displays cognitive capabilities for interacting with other (human) musicians. In this paper, we detail the recent mechanical improvements on the Waseda Flutist Robot (WF-4RIV), enhancing the realistic production of the flute sound. In particular, improved lips, oral cavity and tonguing are introduced and their mechanisms described: The possibility to deform the lip shape in 3-DOF, allows us to accurately control the characteristics of the air-stream (width, thickness and angle). An improved tonguing mechanism (1-DOF) has been designed to reproduce double tonguing. Furthermore we present the implementation of a real-time interaction system with human partners. We developed, as a first approach, a vision processing algorithm to track the 3D-orientation and position of a musical instrument: Image data is recorded using two cameras attached to the head of the robot, and processed in real-time. The proposed algorithm is based on color histogram matching and particle filter techniques to follow the position of a musicianpsilas hands on an instrument. Data analysis enables us to determine the orientation and location of the instrument. We map these parameters to control musical performance parameters of the WF-4RIV, such as sound vibrato and sound volume. A set of experiments were proposed to verify the effectiveness of the proposed tracking system during interaction with a human player. We conclude, that the quality of the musical performance of the WF-4RIV and its capabilities to interact with musical partners, have been significantly improved by the implementation of the techniques, that are proposed in this paper

  • 35. Petersen, K.
    et al.
    Solis, Jorge
    Takanishi, A.
    Toward enabling a natural interaction between human musicians and musical performance robots: Implementation of a real-time gestural interface2008Inngår i: Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on, 2008, s. 340-345Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Our research aims to develop an anthropomorphic flutist robot as a benchmark for the better understanding of interaction between musicians and musical performance robots from a musical point of view. As a long-term goal of our research, we would like to enable such robots to play actively together with a human band, and create novel ways of musical expression. For this purpose, we focus on enhancing the perceptual capabilities of the flutist robot to process musical information coming from the aural and visual perceptual channels. In this paper, we introduce, as a first approach, a hands-free gesture-based control interface designed to modify musical parameters in real-time. In particular, we describe a set of virtual controllers, that a composer can manipulate through gestures of with a musical instrument. The gestures are identified by 2-D motion sensitive areas which graphically represent common control interfaces used in music production. The resulting information from the vision processing is then transformed into MIDI messages, which are subsequently played by the flute robot. In order to verify the effectiveness of the proposed gestural interface, we performed experiments to musically interact with musical partners. iquestFrom the experimental results we concluded that our method satisfies the technical and idiosyncratic requirements for being a suitable tool for musical performance.

  • 36.
    Petersen, Klaus
    et al.
    Japan.
    Solis, Jorge
    Japan.
    Takanishi, Atsuo
    Japan.
    Application of a Musical-based Interaction System to the Waseda Flutist Robot WF-4RIV: Development Results and Performance Experiments2012Inngår i: 2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), IEEE conference proceedings, 2012, s. 937-942Konferansepaper (Fagfellevurdert)
    Abstract [en]

    During several years of development, the hardware of the anthropomorphic flutist robot Waseda Flutist WF-4RIV has been continuously improved. The robot is currently able to play the flute at the level of an intermediate human player. Lately we have been focusing our research on the interactivity of the performance of the robot. Initially the robot has only been able to play a static performance that was not actively controllable by a partner musician of the robot. In a realistic performance set-up, in a band or an orchestra, musicians need to interact in order to create a performance that gives a natural and dynamic impression to the audience. In this publication we present the latest developments on the integration a Musical-based Interaction System (MbIS) with WF-4RIV. Such a human robot interaction system is to allow human musicians to do natural musical communication with the flutist robot through audio-visual cues. Here we would like to summarize our previous results, present the latest extensions to the system and especially concentrate on experimenting with applications of the system. We evaluate our interactive performance system using three different methods: A comparison of a passive (non-interactive) and an interactive performance, evaluation of the technical functionality of the interaction system as a whole and by examining the MbIS from a user perspective with a user survey including amateur and professional musicians. We present experiment results that show that our Musical-based Interaction System extends the anthropomorphic design of the flutist robot, to allow increasingly interactive, natural musical performances with human musicians.

  • 37.
    Sebhatu, Samuel Petros
    et al.
    Karlstads universitet, Fakulteten för ekonomi, kommunikation och IT, Centrum för tjänsteforskning.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    Gebauer, Heiko
    Swiss Federal Institute of Aquatic Science and Technology.
    Value co-creation in a complex service system: A case of Building Robots to innovate service2016Inngår i: The Service Imperatives in the New Economy: Approaches to Service Management and Change. Proceedings., 2016, s. 256-263Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The main objective of this study is to assess and analyze value co-creation in a complex service system from a human-centered point of view. In fulfilling the ambitious goal of integrating cooperative and human-friendly robots, value co-creation should innovate service through the reinvention of the creation of value between robots (i.e., the entire service system) and customers.

    Solving the upcoming challenges of co-creating value in the service sector is related to the method we create well-being in a transformative manner. This method could also use the perspective of service innovation in the complex environment by integrating multiple services that can be adjusted to the specific needs of customers, such as the relatively young and healthy seniors.

    This study is explorative and built around the following concepts based on transformative research: value co-creation, complexity, service innovation, and transformative service. This illustrates these concepts with the case of building robots to provide assistance during activities, such as walking and other physical activities, in an old age house. This study also focuses on describing the challenges of understanding service innovation in the complex service system of service offering toward co-creating value. Such challenges are exemplified from the technical point of view (e.g., multipurpose design concept, human-in-the-loop control, etc.) in the development of a human-friendly walking assistive robot vehicle designed to support the walking activity of relatively young and healthy seniors.

    This study applies the perspective of complexity in service innovation to the case of adding robots in co-creating value. Our findings replicate the theoretical contributions of elements for conceptualizing value co-creation and service innovation in the service systems by adding the roles of robots, namely, interaction between care receiver and robot, as well as care receiver and care givers, among others.

    The current study reveals the challenges of transformative service thinking in the human-centered complex service systems in the manner in which service is innovated and understood, as well as the role of integrating services and well-being. This study aims to describe the challenges of understanding complexity and the role of robot services from the service research perspective.

    Furthermore, this study makes an original contribution to the current discussions on service research toward transformative service and complexity based on services that co-create value. Future research in this area should focus on generalizing the present findings by studying the integration and understanding of service research and transformative service in other empirical settings and conceptualizations.

  • 38.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    3D gesture recognition system for a dynamically-stable human-friendly robot vehicle2017Konferansepaper (Fagfellevurdert)
  • 39.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Development of a human-friendly walking assisting robot vehicle designed to provide physical support to the elderly2016Konferansepaper (Fagfellevurdert)
  • 40.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Development of a Human-Friendly Walking Assistive Robot Vehicle2015Inngår i: IROS’2015 Full day Workshop Cognitive Mobility Assistance Robots, 2015, s. 57-60Konferansepaper (Fagfellevurdert)
  • 41.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    Development of the Human-Friendly Assist Robot Vehicle: Improvement of the velocity control and ramp detection algorithm2016Konferansepaper (Fagfellevurdert)
  • 42.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Introducing Practical Issues of Robotics to Master Students2012Inngår i: 13th Mechatronics Forum International Conference, 2012Konferansepaper (Fagfellevurdert)
  • 43.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Introduction of Robotics to Master Students at Karlstad University2012Inngår i: 2nd IFToMM Asian Conference in Mechanism and Machine Science, 2012Konferansepaper (Fagfellevurdert)
  • 44.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Pilot experiments and velocity control system improvements for the assistive robot vehicle hWALK2016Inngår i: Proc. of the ICRA2016 Workshop on Human-Robot Interfaces for Enhanced Physical Interactions, 2016Konferansepaper (Fagfellevurdert)
  • 45.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Pilot Experiments with a Human-friendly Walking Assisting Robot Vehicle2016Inngår i: ROMANSY 21: Robot Design, Dynamics and Control / [ed] W. Schiehlen, V. Parenti-Castelli, Vienna: Springer, 2016, s. 395-402Kapittel i bok, del av antologi (Fagfellevurdert)
    Abstract [en]

    Up to now, the embodiment of bodily-kinaesthetic, perceptual and cognitive capabilities for assistive robots has been scarcely studied. This research aims to incorporate and develop the concept of robotic human science and to enable its application in a human-friendly robot for assistive purposes. The author has introduced the development of a human-friendly walking assist robot vehicle designed to provide physical support to the elderly. The proposed system is composed by two-wheeled inverted pendulum mobile robot, a 3-DOFs desktop haptic interface, a mobile computer and a wireless module for communication purposes. Pilot experiments with healthy volunteers were carried out to verify the dynamic stability of the proposed system as well as the possibility to compensate the height error of the HI gripper under uneven terrain conditions.

  • 46.
    Solis, Jorge
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik.
    Robot Education with mobile robots2014Inngår i: Designs and Prototypes of mobile robots / [ed] Marco Ceccarelli and Emin Faruk Kekeci (Eds.), ASME Press, 2014, s. 165-185Kapittel i bok, del av antologi (Fagfellevurdert)
  • 47.
    Solis, Jorge
    Karlstads universitet, Fakulteten för teknik- och naturvetenskap, Avdelningen för fysik och elektroteknik.
    Towards the Introduction of Novel Human-Friendly Robotic Platforms for Educational Purposes2011Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Even though the market size is still small at thismoment, applied fields of human-friendly robots are graduallyspreading from the manufacturing industry to the others as oneof the important components to support an aging society.However, a great challenge is presenting in developed countrieswhere a considerable reduction of the number of students isexpected. Therefore, novel educational robot platforms shouldbe conceived. In particular, the author proposes the basiccharacteristics for the next generation of educational robots.Furthermore, the integration of two cost-affordable roboticplatforms is proposed and its potentiality is shown

  • 48.
    Solis, Jorge
    et al.
    Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), Institutionen för ingenjörsvetenskap och fysik (from 2013).
    Amaral, Fernanda
    Karlstads universitet.
    Denoising of human motion data for a 3D gesture recognition system for a two-wheeled inverted pendulum robot2017Konferansepaper (Fagfellevurdert)
  • 49. Solis, Jorge
    et al.
    Avizzano, C.A.
    Bergamasco, M.
    Teaching the Writing of Japanese Characters Using a Haptic Interface2003Konferansepaper (Fagfellevurdert)
  • 50. Solis, Jorge
    et al.
    Avizzano, C.A.
    Bergamasco, M.
    Validating a Transfer Skill System Based on the Reactive Robots Technology2003Inngår i: Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on, 2003, s. 175-180Konferansepaper (Fagfellevurdert)
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