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1.
Proc Natl Acad Sci U S A ; 118(39)2021 09 28.
Article in English | MEDLINE | ID: mdl-34544861

ABSTRACT

Unbiased science dissemination has the potential to alleviate some of the known gender disparities in academia by exposing female scholars' work to other scientists and the public. And yet, we lack comprehensive understanding of the relationship between gender and science dissemination online. Our large-scale analyses, encompassing half a million scholars, revealed that female scholars' work is mentioned less frequently than male scholars' work in all research areas. When exploring the characteristics associated with online success, we found that the impact of prior work, social capital, and gendered tie formation in coauthorship networks are linked with online success for men, but not for women-even in the areas with the highest female representation. These results suggest that while men's scientific impact and collaboration networks are associated with higher visibility online, there are no universally identifiable facets associated with success for women. Our comprehensive empirical evidence indicates that the gender gap in online science dissemination is coupled with a lack of understanding the characteristics that are linked with female scholars' success, which might hinder efforts to close the gender gap in visibility.


Subject(s)
Authorship/standards , Online Systems/standards , Peer Review, Research/trends , Publications/standards , Science/standards , Sexism/prevention & control , Female , Humans , Male
2.
Eur J Contracept Reprod Health Care ; 26(4): 343-348, 2021 Aug.
Article in English | MEDLINE | ID: mdl-33688778

ABSTRACT

OBJECTIVES: The increasing availability of health information online combined with reduced access to health care providers due to the coronavirus pandemic means that more people are using the internet for health information. However, with no standardised regulation of the internet, the population is vulnerable to misinformation regarding important health information. This review aimed to evaluate the quality and readability of the online information available on emergency contraception (EC) options. STUDY DESIGN: In this descriptive study, a Google search was performed using the term 'emergency contraception options' on 13 April 2020 yielding 232 results. Seventy-one results were excluded (34 inaccessible, 37 contained no medical information). The remaining 161 results were categorised by typology and assessed for credibility (JAMA criteria and HONcode), reliability (DISCERN tool) and readability (Flesch-Kincaid Grade Level and Simple Measure of Gobbledygook). RESULTS: Of all webpages evaluated, the most common typology was governmental. Credibility of web pages was poor (average JAMA score of 1.47 out of 4). Only 10.6% of webpages were HONcode certified. The most common DISCERN category was Fair (29.81%), closely followed by Poor (27.95%) reliability. On average, readability levels were above the recommended grade level for health information. The intrauterine device was discussed least frequently (86.96%) of all the EC options. CONCLUSION: Online information was of low credibility, reliability and written above the recommended reading level. Clinicians should be aware of the poor quality of online information on EC options, and actively educate patients on what makes a source credible.


Subject(s)
Consumer Health Information , Contraception, Postcoital/methods , Online Systems/standards , Reproductive Health/standards , COVID-19/epidemiology , COVID-19/prevention & control , COVID-19/psychology , Consumer Health Information/methods , Consumer Health Information/standards , Data Accuracy , Humans , SARS-CoV-2
3.
Radiat Oncol ; 15(1): 203, 2020 Aug 21.
Article in English | MEDLINE | ID: mdl-32825848

ABSTRACT

BACKGROUND: Online adaptive radiotherapy is intended to prevent plan degradation caused by inter-fractional tumor volume and shape changes, but time limitations make online re-planning challenging. The aim of this study was to compare the quality of online-adapted plans to their respective reference treatment plans. METHODS: Fifty-two patients treated on a ViewRay MRIdian Linac were included in this retrospective study. In total 238 online-adapted plans were analyzed, which were optimized with either changing of the segment weights (n = 85) or full re-optimization (n = 153). Five different treatment sites were evaluated: prostate, abdomen, liver, lung and pelvis. Dosimetric parameters of gross tumor volume (GTV), planning target volume (PTV), 2 cm ring around the PTV and organs at risk (OARs) were considered. The Wilcoxon signed-rank test was used to assess differences between online-adapted and reference treatment plans, p < 0.05 was considered significant. RESULTS: The average duration of the online adaptation, consisting of contour editing, plan optimization and quality assurance (QA), was 24 ± 6 min. The GTV was slightly larger (average ± SD: 1.9% ± 9.0%) in the adapted plans than in the reference plans (p < 0.001). GTV-D95% exhibited no significant changes when considering all plans, but GTV-D2% increased by 0.40% ± 1.5% on average (p < 0.001). There was a very small yet significant decrease in GTV-coverage for the abdomen plans. The ring Dmean increased on average by 1.0% ± 3.6% considering all plans (p < 0.001). There was a significant reduction of the dose to the rectum of 4.7% ± 16% on average (p < 0.001) for prostate plans. CONCLUSIONS: Dosimetric quality of online-adapted plans was comparable to reference treatment plans and OAR dose was either comparable or decreased, depending on treatment site. However, dose spillage was slightly increased.


Subject(s)
Neoplasms/radiotherapy , Online Systems/standards , Organs at Risk/radiation effects , Quality Assurance, Health Care , Radiotherapy Planning, Computer-Assisted/standards , Radiotherapy, Image-Guided/standards , Radiotherapy, Intensity-Modulated/standards , Humans , Magnetic Resonance Imaging/methods , Prognosis , Radiotherapy Dosage , Radiotherapy Planning, Computer-Assisted/methods , Radiotherapy, Intensity-Modulated/methods , Retrospective Studies
4.
Cell Syst ; 9(5): 417-421, 2019 11 27.
Article in English | MEDLINE | ID: mdl-31677972

ABSTRACT

As more digital resources are produced by the research community, it is becoming increasingly important to harmonize and organize them for synergistic utilization. The findable, accessible, interoperable, and reusable (FAIR) guiding principles have prompted many stakeholders to consider strategies for tackling this challenge. The FAIRshake toolkit was developed to enable the establishment of community-driven FAIR metrics and rubrics paired with manual and automated FAIR assessments. FAIR assessments are visualized as an insignia that can be embedded within digital-resources-hosting websites. Using FAIRshake, a variety of biomedical digital resources were manually and automatically evaluated for their level of FAIRness.


Subject(s)
Information Dissemination/methods , Internet/trends , Online Systems/standards , Health Resources/standards , Humans
5.
J Contin Educ Nurs ; 50(10): 439-441, 2019 Oct 01.
Article in English | MEDLINE | ID: mdl-31556957

ABSTRACT

Health care professionals frequently participate in surveys. Increased technology supports low-budget online surveys as a common method for collecting information. Decreased interaction with the surveyor, a lack of trust in the survey process, and time constraints often reduce response rates. Improved communication and shared results can positively influence the participants' experience. [J Contin Educ Nurs. 2019;50(10):439-441].


Subject(s)
Attitude of Health Personnel , Guidelines as Topic/standards , Health Personnel/psychology , Online Systems/standards , Surveys and Questionnaires/statistics & numerical data , Surveys and Questionnaires/standards , Adult , Female , Humans , Male , Middle Aged
6.
PLoS One ; 14(8): e0219177, 2019.
Article in English | MEDLINE | ID: mdl-31404071

ABSTRACT

Recent innovations in e-commerce have led to the emergence of online retailing platforms, where millions of products are sold. Most of these products are sold by third-party sellers who pay a fee for the e-retailer (called the platform owner). We investigate how the e-retailer manages the various products in the presence of consumer heterogeneity and diseconomies of scope. Our analytical results indicate that the e-retailer prefers the platform-selling mode when consumers have stronger heterogeneity or when the value of a product is high; moreover, the consumer heterogeneity benefits the e-retailer and hurts the supplier. We also analyze the effect of the relationship of among categories on the e-retailer's choice. We show that the relationship among categories can invert the existing format. In addition, we find that the e-retailer may be better off and raise the number of products under strong diseconomies of scope when the categories are complements, and the opposite is true when the categories are substitutable.


Subject(s)
Choice Behavior , Commerce/economics , Commerce/methods , Consumer Behavior , Marketing/methods , Models, Theoretical , Online Systems/standards , Advertising , Humans
7.
BMC Infect Dis ; 18(1): 615, 2018 Dec 04.
Article in English | MEDLINE | ID: mdl-30509195

ABSTRACT

BACKGROUND: Despite persistent calls for HIV care to adopt a chronic care approach, few HIV treatment services have been able to establish service arrangements that prioritise self-management. To prevent cardiovascular and other chronic disease outcomes, the HealthMap program aims to enhance routine HIV care with opportunities for self-management support. This paper outlines the systematic process that was used to design and develop the HealthMap program, prior to its evaluation in a cluster-randomised trial. METHODS: Program development, planning and evaluation was informed by the PRECEDE-PROCOEDE Model and an Intervention Mapping approach and involved four steps: (1) a multifaceted needs assessment; (2) the identification of intervention priorities; (3) exploration and identification of the antecedents and reinforcing factors required to initiate and sustain desired change of risk behaviours; and finally (4) the development of intervention goals, strategies and methods and integrating them into a comprehensive description of the intervention components. RESULTS: The logic model incorporated the program's guiding principles, program elements, hypothesised causal processes, and intended program outcomes. Grounding the development of HealthMap on a clear conceptual base, informed by the research literature and stakeholder's perspectives, has ensured that the HealthMap program is targeted, relevant, provides transparency, and enables effective program evaluation. CONCLUSIONS: The use of a systematic process for intervention development facilitated the development of an intervention that is patient centred, accessible, and focuses on the key determinants of health-related outcomes for people with HIV in Australia. The techniques used here may offer a useful methodology for those involved in the development and implementation of complex interventions.


Subject(s)
HIV Infections/therapy , Program Development , Psychosocial Support Systems , Self-Management/methods , Telemedicine/methods , Australia , Cardiovascular Diseases/prevention & control , Chronic Disease/prevention & control , HIV , HIV Infections/complications , Humans , Needs Assessment , Online Systems/organization & administration , Online Systems/standards , Program Development/standards , Program Evaluation , Randomized Controlled Trials as Topic/methods , Research Design , Telemedicine/organization & administration
8.
PLoS One ; 13(11): e0206458, 2018.
Article in English | MEDLINE | ID: mdl-30383766

ABSTRACT

The accuracy and diversity of recommendation algorithms have always been the research hotspot of recommender systems. A good recommender system should not only have high accuracy and diversity, but also have adequate robustness against spammer attacks. However, the issue of recommendation robustness has received relatively little attention in the literature. In this paper, we systematically study the influences of different spammer behaviors on the recommendation results in various recommendation algorithms. We further propose an improved algorithm by incorporating the inner-similarity of user's purchased items in the classic KNN approach. The new algorithm effectively enhances the robustness against spammer attacks and thus outperforms traditional algorithms in recommendation accuracy and diversity when spammers exist in the online commercial systems.


Subject(s)
Computer Security/standards , Consumer Behavior , Guidelines as Topic , Internet/standards , Online Systems/standards , Software , Algorithms , Computer Communication Networks/standards , Humans , Online Social Networking , User-Computer Interface
9.
Phys Med Biol ; 63(15): 155016, 2018 08 01.
Article in English | MEDLINE | ID: mdl-29972147

ABSTRACT

Medical imaging is currently employed in the diagnosis, planning, delivery and response monitoring of cancer treatments. Due to physiological motion and/or treatment response, the shape and location of the pathology and organs-at-risk may change over time. Establishing their location within the acquired images is therefore paramount for an accurate treatment delivery and monitoring. A feasible solution for tracking anatomical changes during an image-guided cancer treatment is provided by image registration algorithms. Such methods are, however, often built upon elements originating from the computer vision/graphics domain. Since the original design of such elements did not take into consideration the material properties of particular biological tissues, the anatomical plausibility of the estimated deformations may not be guaranteed. In the current work we adapt two existing variational registration algorithms, namely Horn-Schunck and EVolution, to online soft tissue tracking. This is achieved by enforcing an incompressibility constraint on the estimated deformations during the registration process. The existing and the modified registration methods were comparatively tested against several quality assurance criteria on abdominal in vivo MR and CT data. These criteria included: the Dice similarity coefficient (DSC), the Jaccard index, the target registration error (TRE) and three additional criteria evaluating the anatomical plausibility of the estimated deformations. Results demonstrated that both the original and the modified registration methods have similar registration capabilities in high-contrast areas, with DSC and Jaccard index values predominantly in the 0.8-0.9 range and an average TRE of 1.6-2.0 mm. In contrast-devoid regions of the liver and kidneys, however, the three additional quality assurance criteria have indicated a considerable improvement of the anatomical plausibility of the deformations estimated by the incompressibility-constrained methods. Moreover, the proposed registration models maintain the potential of the original methods for online image-based guidance of cancer treatments.


Subject(s)
Image Processing, Computer-Assisted/standards , Multimodal Imaging/standards , Online Systems/standards , Algorithms , Humans , Image Processing, Computer-Assisted/methods
10.
Sci Rep ; 8(1): 7052, 2018 05 04.
Article in English | MEDLINE | ID: mdl-29728581

ABSTRACT

We evaluated the reliability of early life nasopharyngeal carcinoma (NPC) aetiology factors in the questionnaire of an NPC case-control study in Hong Kong during 2014-2017. 140 subjects aged 18+ completed the same computer-assisted questionnaire twice, separated by at least 2 weeks. The questionnaire included most known NPC aetiology factors and the present analysis focused on early life exposure. Test-retest reliability of all the 285 questionnaire items was assessed in all subjects and in 5 subgroups defined by cases/controls, sex, time between 1st and 2nd questionnaire (2-29/≥30 weeks), education (secondary or less/postsecondary), and age (25-44/45-59/60+ years) at the first questionnaire. The reliability of items on dietary habits, body figure, skin tone and sun exposure in early life periods (age 6-12 and 13-18) was moderate-to-almost perfect, and most other items had fair-to-substantial reliability in all life periods (age 6-12, 13-18 and 19-30, and 10 years ago). Differences in reliability by strata of the 5 subgroups were only observed in a few items. This study is the first to report the reliability of an NPC questionnaire, and make the questionnaire available online. Overall, our questionnaire had acceptable reliability, suggesting that previous NPC study results on the same risk factors would have similar reliability.


Subject(s)
Environmental Exposure/adverse effects , Nasopharyngeal Carcinoma/epidemiology , Nasopharyngeal Carcinoma/etiology , Online Systems , Surveys and Questionnaires , Adolescent , Adult , Age Factors , Case-Control Studies , Child , Female , Hong Kong/epidemiology , Humans , Male , Online Systems/standards , Public Health Surveillance , Reproducibility of Results , Risk Assessment , Risk Factors , Surveys and Questionnaires/standards , Young Adult
11.
Article in English | MEDLINE | ID: mdl-29473786

ABSTRACT

To enable further study and assessment of indoor inhalation exposure risk, an online apparatus enabling measurement of semi-volatile compound partitioning on household particulates was developed. An example for use of the apparatus is described using dimethyl phthalate (DMP). The system employs direct measurement by membrane introduction mass spectrometry (MIMS). The MIMS system was calibrated using known gas phase DMP concentrations produced by gravimetrically calibrated permeation devices. The quantity of DMP sorbed by particles is described first using a model particle type, a reverse-phase liquid chromatography packing material, and then with a household dust sample. In addition, the desorption of semi-volatile compounds from a household dust sample was monitored using the apparatus, and characteristic fragment ion signals for phthalate compounds were observed.


Subject(s)
Air Pollution, Indoor/analysis , Dust/analysis , Mass Spectrometry/methods , Online Systems , Particulate Matter/analysis , Phthalic Acids/analysis , Adsorption , Calibration , Gas Chromatography-Mass Spectrometry/methods , Gas Chromatography-Mass Spectrometry/standards , Humans , Mass Spectrometry/standards , Online Systems/instrumentation , Online Systems/standards , Particulate Matter/pharmacokinetics , Phthalic Acids/pharmacokinetics
13.
J Proteomics ; 168: 28-36, 2017 09 25.
Article in English | MEDLINE | ID: mdl-28757464

ABSTRACT

Offline high-pH reversed-phase fractionation is widely used to reduce sample complexity in proteomic workflows. This is due to the semi-orthogonality and high peak resolution of the two separations. Offline 2D fractionation, however, is low throughput and requires several manual manipulations and is prone to sample losses. To address these issues, we developed an online two dimensional high-pH - low-pH reversed-phase-reversed-phase (2D RPRP) LC-MRM method whereby hundreds of peptides can be quantified in a single LC-MS/MS injection. The method allowed the reproducible and sensitive quantitation of a test panel of 367 peptides (168 proteins) from undepleted and non-enriched human plasma. Of these, we were able to detect and quantify 95 peptides (29 proteins) by 2D-RPRP that were not detectable by 1D LC-MRM-MS. Online 2D RPRP resulted in an average increase of roughly 10-fold in sensitivity compared to traditional 1D low-pH separations, while improving reproducibility and sample throughput relative to offline 2D RPRP by factors of 1.7 and 5, respectively, compared to offline 2D RPRP. This paper serves as proof-of-concept of the feasibility and efficacy of online 2D RPRP at analytical flow rates for highly multiplexed targeted proteomic analyses.


Subject(s)
Blood Proteins/analysis , Chromatography, Reverse-Phase/methods , Online Systems/standards , Proteomics/standards , Humans , Hydrogen-Ion Concentration , Proteomics/methods
14.
Nurse Educ Today ; 55: 31-37, 2017 Aug.
Article in English | MEDLINE | ID: mdl-28511085

ABSTRACT

BACKGROUND: Ethical competence, which is reflected in the ability to detect ethical challenges in clinical situations and engage in deliberate thinking on ethical actions, is one of the core competencies of nursing practice. PURPOSE: The purpose of this study was to develop and implement an interactive situational e-learning system, integrating nursing ethical decisions into a nursing ethics course, and to evaluate the effects of this course on student nurses' ethical decision-making competence. PROJECT DESIGN: The project was designed to be carried out in two phases. In the first phase, an interactive situated e-learning system was developed and integrated into the nursing ethics course. The second phase involved implementing the course and evaluating its effects in a quasi-experimental study. The course intervention was designed for 2h per week over one semester (18weeks). PARTICIPANTS: A total of 100 two-year technical college nursing students in their second year of the program participated in the study, with 51 in the experimental group and 49 in the control group. RESULTS: After completing the course, the students in the experimental group showed significant improvement in nursing ethical decision-making competence, including skills in "raising questions," "recognizing differences," "comparing differences," "self-dialogue," "taking action," and "identifying the implications of decisions made," compared to their performance prior to the class. After controlling for factors influencing learning effects, students in the experimental group showed superiority to those in the control group in the competency of "recognizing differences." The students in the experimental group reported that the course pushed them to search for and collect information needed to resolve the ethical dilemma. CONCLUSIONS: The interactive situational e-learning system developed by our project was helpful in developing the students' competence in ethical reasoning. The e-learning system and the situational teaching materials used in this study may be applicable in nursing and related professional ethics courses.


Subject(s)
Curriculum , Decision Making , Education, Distance/methods , Ethics, Nursing/education , Online Systems/standards , Education, Nursing, Baccalaureate , Female , Humans , Internet , Male , Models, Educational , Program Evaluation , Students, Nursing/psychology , Teaching , Young Adult
15.
Transfusion ; 56(10): 2510-2519, 2016 Oct.
Article in English | MEDLINE | ID: mdl-27456672

ABSTRACT

BACKGROUND: Extracorporeal photopheresis (ECP) is a therapeutic technique that combines leukapheresis and ultraviolet (UV)A irradiation of the leukapheresate after 8-methoxypsoralen treatment with subsequent retransfusion. It can be achieved with a single device (online) or by combining an apheresis machine with a separate UVA light source (offline). The comparability of both established methods is unknown. STUDY DESIGN AND METHODS: In a prospective setting, four ECP systems were evaluated: one with integrated UVA irradiation for online ECP (Therakos) and three with external UVA irradiation for offline ECP (Amicus, Optia, and Cobe Spectra). Apheresis variables and cell counts were determined by methods including flow cytometry. RESULTS: The duration of apheresis ranged from 120 minutes (Amicus, Optia) to 275 minutes (Therakos). Mononuclear cell (MNC) counts in the treatment bags were comparable between offline ECP methods (median, 57 × 108 - 66 × 108 ) and lower for online ECP (14 × 108 ). CD16+ monocytes were abundant in online ECP (82%) but rarer in offline ECP (median, 14% - 19%). Hematocrit ranged from 0.1% (Therakos) to 8% (Amicus). There were no side effects in any patients. DISCUSSION: All offline ECP systems studied yielded comparable cellular compositions and highly enriched populations of MNCs. In contrast, white blood cells from online ECP displayed enrichment of nonclassical monocytes. The relevance of these findings is unknown as there is no established biomarker to predict the therapeutic efficacy of these procedures.


Subject(s)
Photopheresis/instrumentation , Adolescent , Adult , Aged , Blood Component Removal , Cell Count , Female , Humans , Leukocyte Count , Male , Middle Aged , Monocytes/cytology , Online Systems/standards , Photopheresis/methods , Prospective Studies , Ultraviolet Rays , Young Adult
16.
Stud Health Technol Inform ; 225: 718-20, 2016.
Article in English | MEDLINE | ID: mdl-27332317

ABSTRACT

The majority of the adult population in both Europe and North America have access to the internet. Over 70% state that they have used the internet to look for health information and the majority started their search at a search engine. Given that search engines list sites according to popularity and not quality, it is imperative that users have a means of discerning trustworthy and honest information from non-reliable health information. The HONcode, a set of eight quality guidelines, ensures access to standardized trustworthy health information which can be used as a tool to guide consumers.


Subject(s)
Consumer Health Information/standards , Online Systems/standards , Practice Guidelines as Topic , Quality Assurance, Health Care/standards , Search Engine/standards , Social Media/standards , Data Accuracy , Health Information Systems/standards , Internationality
17.
Trends Parasitol ; 32(7): 522-530, 2016 07.
Article in English | MEDLINE | ID: mdl-27131629

ABSTRACT

Traditionally, parasitology courses have mostly been taught face-to-face on campus, but now digital technologies offer opportunities for teaching and learning. Here, we give a perspective on how new technologies might be used through student-centred teaching approaches. First, a snapshot of recent trends in the higher education is provided; then, a brief account is given of how digital technologies [e.g., massive open online courses (MOOCs), flipped classroom (FC), games, quizzes, dedicated Facebook, and digital badges] might promote parasitology teaching and learning in digital learning environments. In our opinion, some of these digital technologies might be useful for competency-based, self-regulated, learner-centred teaching and learning in an online or blended teaching environment.


Subject(s)
Computers , Educational Technology/standards , Parasitology/education , Parasitology/trends , Teaching/trends , Educational Technology/trends , Online Systems/standards
18.
Pain Med ; 17(11): 1985-1992, 2016 11.
Article in English | MEDLINE | ID: mdl-27036413

ABSTRACT

OBJECTIVE: Many physicians struggle to communicate with patients with chronic, non-malignant pain (CNMP). Through the use of a Web module, the authors aimed to improve faculty participants' communication skills knowledge and confidence, use of skills in clinical practice, and actual communication skills. SUBJECTS: The module was implemented for faculty development among clinician-educators with university faculty appointments, outpatient clinical practices, and teaching roles. METHODS: Participants completed the Collaborative Opioid Prescribing Education Risk Evaluation and Mitigation Strategy (COPE-REMS®) module, a free Web module designed to improve provider communication around opioid prescribing. Main study outcomes were improvements in CNMP communication knowledge, attitudes, and skills. Skills were assessed by comparing a subset of participants' Observed Structured Clinical Exam (OSCE) performance before and after the curriculum. RESULTS: Sixty-two percent of eligible participants completed the curriculum in 2013. Knowledge-based test scores improved with curriculum completion (75% vs. 90%; P < 0.001). Using a 5-point Likert-type scale, participants reported improved comfort in managing patients with CNMP both immediately post-curriculum and at 6 months (3.6 pre vs. 4.0 post vs. 4.1 at 6 months; P = 0.02), as well as improvements in prescribing opioids (3.3 vs. 3.8 vs. 3.9, P = 0.01) and conducting conversations about discontinuing opioids (2.8 vs. 3.5 vs. 3.9, P < 0.001). Additionally, CNMP-specific communication skills on the OSCE improved after the curriculum (mean 67% vs. 79%, P = 0.03). CONCLUSIONS: Experienced clinician-educators improved their communication knowledge, attitudes, and skills in managing patients with CNMP after implementation of this curriculum. The improvements in attitudes were sustained at six months. A Web-based curriculum such as COPE-REMS® may be useful for other programs seeking improvement in faculty communication with patients who have CNMP.


Subject(s)
Attitude of Health Personnel , Chronic Pain/therapy , Clinical Competence/standards , Faculty, Medical/standards , Online Systems/standards , Physician-Patient Relations , Analgesics, Opioid/therapeutic use , Chronic Pain/psychology , Curriculum/standards , Faculty, Medical/education , Female , Health Knowledge, Attitudes, Practice , Humans , Male
20.
IEEE Trans Haptics ; 9(2): 267-78, 2016.
Article in English | MEDLINE | ID: mdl-26780819

ABSTRACT

In the design of a compliant admittance controller for physical human-robot interaction, it is necessary to ensure stable and effective cooperation. The stability of the admittance controller is mainly threatened by a stiff environment. Many methods that guarantee stability in arbitrary environments, impose conservative control gains that limit the effectiveness of the cooperation. Inspired by previous work in frequency domain stability observers, a method is proposed in this paper to detect unstable behavior and stabilize the robot with online adaptation of the admittance control gains. The introduced instability index is based on frequency domain analysis, which very quickly detects unstable behavior by monitoring high frequency oscillation in the force signal. To treat the instability, an adaptation scheme of the admittance parameters is proposed, that relaxes conservative gains and improves the cooperation by considering the effect of variable admittance on the operators' effort. We investigate two human-robot co-manipulation tasks; cooperation within a zero stiffness environment and cooperation in contact with a stiff double-wall virtual environment. The proposed methods are validated experimentally with a number of subjects in cooperation with an LWR manipulator.


Subject(s)
Cooperative Behavior , Online Systems/statistics & numerical data , Robotics/methods , Adult , Algorithms , Female , Humans , Male , Online Systems/standards , Robotics/instrumentation
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