Development of a Non-Contacting Muscular Activity Measurement System for Evaluating Knee Extensors Training in Real-Time.

To give people more specific information on the quality of their daily motion, it is necessary to continuously measure muscular activity during everyday occupations in an easy way. The traditional methods to measure muscle activity using a combination of surface electromyography (sEMG) sensors and optical motion capture system are expensive and not suitable for non-technical users and unstructured environment. For this reason, in our group we are researching methods to estimate leg muscle activity using non-contact wearable sensors, improving ease of movement and system usability. In a previous study, we developed a method to estimate muscle activity via only a single inertial measurement unit (IMU) on the shank. In this study, we describe a method to estimate muscle activity during walking via two IMU sensors, using an original sensing system and specifically developed estimation algorithms based on ANN techniques. The muscle activity estimation results, estimated by the proposed algorithm after optimization, showed a relatively high estimation accuracy with a correlation efficient of R2 = 0.48 and a standard deviation STD = 0.10, with a total system average delay of 192 ms. As the average interval between different gait phases in human gait is 250-1000 ms, a 192 ms delay is still acceptable for daily walking requirements. For this reason, compared with the previous study, the newly proposed system presents a higher accuracy and is better suitable for real-time leg muscle activity estimation during walking.

Construction of Automatic Scoring System to Support Objective Evaluation of Clinical Skills in Medical Education.

In this study, we focused on the automatic scoring of medical clinical abilities. The objective clinical ability tests that all undergraduate students take before starting clinical practice were considered. As these tests evaluate practical skills, there is a problem that the learning method is poor compared to the examination of other lectures. Therefore, in this study, we recorded the voice of a student examining a simulated patient using a microphone. We constructed a system comprising a speech recognition module and a scoring system that performed automatic scoring by checking against a prepared example answer. This system was evaluated by medical doctors.

Evaluation of a Sensor System for Detecting Humans Trapped under Rubble: A Pilot Study.

Rapid localization of injured survivors by rescue teams to prevent death is a major issue. In this paper, a sensor system for human rescue including three different types of sensors, a CO2 sensor, a thermal camera, and a microphone, is proposed. The performance of this system in detecting living victims under the rubble has been tested in a high-fidelity simulated disaster area. Results show that the CO2 sensor is useful to effectively reduce the possible concerned area, while the thermal camera can confirm the correct position of the victim. Moreover, it is believed that the use of microphones in connection with other sensors would be of great benefit for the detection of casualties. In this work, an algorithm to recognize voices or suspected human noise under rubble has also been developed and tested.

Anatomical Calibration through Post-Processing of Standard Motion Tests Data.

The inertial measurement unit is popularly used as a wearable and flexible tool for human motion tracking. Sensor-to-body alignment, or anatomical calibration (AC), is fundamental to improve accuracy and reliability. Current AC methods either require extra movements or are limited to specific joints. In this research, the authors propose a novel method to achieve AC from standard motion tests (such as walking, or sit-to-stand), and compare the results with the AC obtained from specially designed movements. The proposed method uses the limited acceleration range on medial-lateral direction, and applies principal component analysis to estimate the sagittal plane, while the vertical direction is estimated from acceleration during quiet stance. The results show a good correlation between the two sets of IMUs placed on frontal/back and lateral sides of head, trunk and lower limbs. Moreover, repeatability and convergence were verified. The AC obtained from sit-to-stand and walking achieved similar results as the movements specifically designed for upper and lower body AC, respectively, except for the feet. Therefore, the experiments without AC performed can be recovered through post-processing on the walking and sit-to-stand data. Moreover, extra movements for AC can be avoided during the experiment and instead achieved through the proposed method.

Quantitative Laughter Detection, Measurement, and Classification-A Critical Survey.

The study of human nonverbal social behaviors has taken a more quantitative and computational approach in recent years due to the development of smart interfaces and virtual agents or robots able to interact socially. One of the most interesting nonverbal social behaviors, producing a characteristic vocal signal, is laughing. Laughter is produced in several different situations: in response to external physical, cognitive, or emotional stimuli; to negotiate social interactions; and also, pathologically, as a consequence of neural damage. For this reason, laughter has attracted researchers from many disciplines. A consequence of this multidisciplinarity is the absence of a holistic vision of this complex behavior: the methods of analysis and classification of laughter, as well as the terminology used, are heterogeneous; the findings sometimes contradictory and poorly documented. This survey aims at collecting and presenting objective measurement methods and results from a variety of different studies in different fields, to contribute to build a unified model and taxonomy of laughter. This could be successfully used for advances in several fields, from artificial intelligence and human-robot interaction to medicine and psychiatry.

On Stereo Confidence Measures for Global Methods: Evaluation, New Model and Integration into Occupancy Grids.

Stereo confidence measures are important functions for global reconstruction methods and some applications of stereo. In this article we evaluate and compare several models of confidence which are defined at the whole disparity range. We propose a new stereo confidence measure to which we call the Histogram Sensor Model (HSM), and show how it is one of the best performing functions overall. We also introduce, for parametric models, a systematic method for estimating their parameters which is shown to lead to better performance when compared to parameters as computed in previous literature. All models were evaluated when applied to two different cost functions at different window sizes and model parameters. Contrary to previous stereo confidence measure benchmark literature, we evaluate the models with criteria important not only to winner-take-all stereo, but also to global applications. To this end, we evaluate the models on a real-world application using a recent formulation of 3D reconstruction through occupancy grids which integrates stereo confidence at all disparities. We obtain and discuss our results on both indoors' and outdoors' publicly available datasets.

Reliability of the step phase detection using inertial measurement units: pilot study.

The use of inertial sensors for the gait event detection during a long-distance walking, for example, on different surfaces and with different walking patterns, is important to evaluate the human locomotion. Previous studies demonstrated that gyroscopes on the shank or foot are more reliable than accelerometers and magnetometers for the event detection in case of normal walking. However, these studies did not link the events with the temporal parameters used in the clinical practice; furthermore, they did not clearly verify the optimal position for the sensors depending on walking patterns and surface conditions. The event detection quality of the sensors is compared with video, used as ground truth, according to the parameters proposed by the Gait and Clinical Movement Analysis Society. Additionally, the performance of the sensor on the foot is compared with the one on the shank. The comparison is performed considering both normal walking and deviations to the walking pattern, on different ground surfaces and with or without constraints on movements. The preliminary results show that the proposed methodology allows reliable detection of gait events, even in case of abnormal footfall and in slipping surface conditions, and that the optimal location to place the sensors is the shank.

Behavior modulation of rats to a robotic rat in multi-rat interaction.

In this paper, we study the behavioral response of rats to a robotic rat during multi-rat interaction. Experiments are conducted in an open-field where a robotic rat called WR-5 is put together with three laboratory rats. WR-5 is following one rat (target), while avoiding the other two rats (outside observers) during interaction. The behavioral characteristics of each target rat is evaluated by scoring its locomotor activity and frequencies of performing rearing, body grooming and mounting actions. Additionally, the frequency of being mounted by other rats is also measured. Experimental results show that the target becomes more active after interaction. The rat species, with more active behavioral characteristics, is more susceptible to being adjusted by the robot. The increased time spent by the outside observers in the vicinity of the robot indicates that a biomimetic robot has the promise for modulating rat behavior even without direct interaction. Thus, this study provide a novel approach to shaping the sociality of animals living in groups.

Development of subliminal persuasion system to improve the upper limb posture in laparoscopic training: a preliminary study.

PURPOSE: Current training for laparoscopy focuses only on the enhancement of manual skill and does not give advice on improving trainees' posture. However, a poor posture can result in increased static muscle loading, faster fatigue, and impaired psychomotor task performance. In this paper, the authors propose a method, named subliminal persuasion, which gives the trainee real-time advice for correcting the upper limb posture during laparoscopic training like the expert but leads to a lower increment in the workload. METHODS: A 9-axis inertial measurement unit was used to compute the upper limb posture, and a Detection Reaction Time device was developed and used to measure the workload. A monitor displayed not only images from laparoscope, but also a visual stimulus, a transparent red cross superimposed to the laparoscopic images, when the trainee had incorrect upper limb posture. One group was exposed, when their posture was not correct during training, to a short (about 33 ms) subliminal visual stimulus. The control group instead was exposed to longer (about 660 ms) supraliminal visual stimuli. RESULTS: We found that subliminal visual stimulation is a valid method to improve trainees' upper limb posture during laparoscopic training. Moreover, the additional workload required for subconscious processing of subliminal visual stimuli is less than the one required for supraliminal visual stimuli, which is processed instead at the conscious level. CONCLUSIONS: We propose subliminal persuasion as a method to give subconscious real-time stimuli to improve upper limb posture during laparoscopic training. Its effectiveness and efficiency were confirmed against supraliminal stimuli transmitted at the conscious level: Subliminal persuasion improved upper limb posture of trainees, with a smaller increase on the overall workload.

Walking in the uncanny valley: importance of the attractiveness on the acceptance of a robot as a working partner.

The Uncanny valley hypothesis, which tells us that almost-human characteristics in a robot or a device could cause uneasiness in human observers, is an important research theme in the Human Robot Interaction (HRI) field. Yet, that phenomenon is still not well-understood. Many have investigated the external design of humanoid robot faces and bodies but only a few studies have focused on the influence of robot movements on our perception and feelings of the Uncanny valley. Moreover, no research has investigated the possible relation between our uneasiness feeling and whether or not we would accept robots having a job in an office, a hospital or elsewhere. To better understand the Uncanny valley, we explore several factors which might have an influence on our perception of robots, be it related to the subjects, such as culture or attitude toward robots, or related to the robot such as emotions and emotional intensity displayed in its motion. We asked 69 subjects (N = 69) to rate the motions of a humanoid robot (Perceived Humanity, Eeriness, and Attractiveness) and state where they would rather see the robot performing a task. Our results suggest that, among the factors we chose to test, the attitude toward robots is the main influence on the perception of the robot related to the Uncanny valley. Robot occupation acceptability was affected only by Attractiveness, mitigating any Uncanny valley effect. We discuss the implications of these findings for the Uncanny valley and the acceptability of a robotic worker in our society.

Objective evaluation of oral presentation skills using Inertial Measurement Units.

Oral presentation is considered as one of the most sought after skills by companies and professional organizations and program accreditation agencies. However, both learning process and evaluation of this skill are time demanding and complex tasks that need dedication and experience. Furthermore, the role of the instructor is fundamental during the presentation assessment. The instructor needs to consider several verbal and nonverbal communications cues sent in parallel and this kind of evaluation is often subjective. Even if there are oral presentation rubrics that try to standardize the evaluation, they are not an optimal solution because they do not provide the presenter a real-time feedback. In this paper, we describe a system for behavioral monitoring during presentations. We propose an ecological measurement system based on Inertial Measurement Units to evaluate objectively the presenter's posture through objective parameters. The system can be used to provide a real-time feedback to the presenters unobtrusively.

A novel approach to low cost, wide range motion capture system: Validation and application to human behavior analysis.

From new hardware arise possibilities to develop novel methods of monitoring human behavior. In this paper we present a low cost system using two RGB-D cameras in a 3m × 8m space. Using developed software, we are able to easily collect, combine, visualize, modify, and analyze data. To validate the system, we measured human behavior in a walking experiment (N = 11). The data obtained from the system showed an accurate measurement and validated our approach for Human Interaction analysis.

Foot placement modification for a biped humanoid robot with narrow feet.

This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan.

Physicians use ultrasound scans to obtain real-time images of internal organs, because such scans are safe and inexpensive. However, people in remote areas face difficulties to be scanned due to aging society and physician's shortage. Hence, it is important to develop an autonomous robotic system to perform remote ultrasound scans. Previously, we developed a robotic system for automatic ultrasound scan focusing on human's liver. In order to make it a completely autonomous system, we present in this paper a way to autonomously localize the epigastric region as the starting position for the automatic ultrasound scan. An image processing algorithm marks the umbilicus and mammary papillae on a digital photograph of the patient's abdomen. Then, we made estimation for the location of the epigastric region using the distances between these landmarks. A supporting algorithm distinguishes rib position from epigastrium using the relationship between force and displacement. We implemented these algorithms with the automatic scanning system into an apparatus: a Mitsubishi Electric's MELFA RV-1 six axis manipulator. Tests on 14 healthy male subjects showed the apparatus located the epigastric region with a success rate of 94%. The results suggest that image recognition was effective in localizing a human body part.

The influences of emotional intensity for happiness and sadness on walking.

Walking is one of the most common activities that we perform every day. Even if the main goal of walking is to move from one place to another place, walking can also convey emotional clues in social context. Those clues can be used to improve interactions or any messages we want to express. However, there are not many studies on the effects of the intensity of the emotions on the walking. In this paper, the authors propose to assess the differences between the expression of emotion regarding the expressed intensity (low, middle, high and exaggerated). We observed two professional actors perform emotive walking, with different intensities and we analyzed the recorded data. For each emotion, we analyzed characteristic features which can be used in the future to model gait patterns and to recognize emotions from the gait parameters. Additionally, we found characteristics which can be used to create new emotion expression for our biped robot Kobian, improving the human-robot interaction.

Safe venepuncture techniques using a vacuum tube system.

The purpose of this study was to determine safe techniques of performing blood collection using an evacuated tube system, particularly with regard to manipulation of the equipment and at the puncture site. Careful observation of the procedure was used to collect data for evaluating the various venepuncture techniques. Nurses were digitally videotaped performing simulated venepuncture. A self-administered questionnaire and unstructured observation of a videotaped recording were evaluated, and valid responses were analyzed from participants who performed venepuncture using various techniques. The participants who changed hands during the procedure were older than those who did not change hands. Needle movements during puncture and insertion, including rotation and insertion in a wave-like trajectory, were observed. Appropriate training, including recommendations for maintaining the stability of the needle tip, is important to ensure safety when performing venepuncture. Movement of the needle should not place too much pressure on the puncture site.

Modulation of rat behaviour by using a rat-like robot.

In this paper, we study the response of a rat to a rat-like robot capable of generating different types of behaviour (stressful, friendly, neutral). Experiments are conducted in an open-field where a rat-like robot called WR-4 is put together with live rats. The activity level of each rat subject is evaluated by scoring its locomotor activity and frequencies of performing rearing (rising up on its hind limbs) and body grooming (body cuddling and head curling) actions, whereas the degree of preference of that is indicated by the robot-rat distance and the frequency of contacting WR-4. The moving speed and behaviour of WR-4 are controlled in real-time based on the feedback from rat motion. The activity level and degree of preference of rats for each experimental condition are analysed and compared to understand the influence of robot behaviour. The results of this study show that the activity level and degree of preference of the rat decrease when exposed to a stressful robot, and increase when the robot exhibit friendly behaviour, suggesting that a rat-like robot can modulate rat behaviour in a controllable, predictable way.

Development of an objective endoscopic surgical skill assessment system for pediatric surgeons: suture ligature model of the crura of the diaphragm in infant fundoplication.

BACKGROUND AND AIM: The Japanese Society of Pediatric Endoscopic Surgeons developed an endoscopic surgical skill qualification (ESSQ) system. However, this is a subjective system we developed and validated an objective skill evaluation system for pediatric surgeons. METHODS: In the ESSQ system, the task operation is laparoscopic fundoplication. Therefore, we set up a suture ligature model of the crura of the diaphragm for infant fundoplication. Examinees were divided into 2 groups, 10 experts and 16 trainees. They had to perform two suture ligatures of the crura using an intracorporeal knot in the box. Evaluation points were time, force on the tissue, suture tension, stitch spacing, equidistance, mean score, and total score. Statistical analysis was performed and p < 0.05 was considered statistically significant. RESULTS: Experts showed better score than trainees in the time score (p < 0.0001), the score for force on the tissue (p < 0.0001), the stitch spacing score (p < 0.05), the equidistance score (p < 0.005), the mean score (p < 0.0001), and the total score (p < 0.0005), respectively. CONCLUSION: The results revealed that the expert group possessed gentle and speedy skills compared with that of the novices. Using this validation study, our established model could be used to objectively evaluate the endoscopic surgical skills of pediatric surgeons.

Objective skill evaluation for laparoscopic training based on motion analysis.

Performing laparoscopic surgery requires several skills, which have never been required for conventional open surgery. Surgeons experience difficulties in learning and mastering these techniques. Various training methods and metrics have been developed to assess and improve surgeon's operative abilities. While these training metrics are currently widely being used, skill evaluation methods are still far from being objective in the regular laparoscopic skill education. This study proposes a methodology of defining a processing model that objectively evaluates surgical movement performance in the routine laparoscopic training course. Our approach is based on the analysis of kinematic data describing the movements of surgeon's upper limbs. An ultraminiaturized wearable motion capture system (Waseda Bioinstrumentation system WB-3), therefore, has been developed to measure and analyze these movements. The data processing model was trained by using the subjects' motion features acquired from the WB-3 system and further validated to classify the expertise levels of the subjects with different laparoscopic experience. Experimental results show that the proposed methodology can be efficiently used both for quantitative assessment of surgical movement performance, and for the discrimination between expert surgeons and novices.

Synthesis of a new [6]-gingerol analogue and its protective effect with respect to the development of metabolic syndrome in mice fed a high-fat diet.

To determine the effects of a [6]-gingerol analogue (6G), a major chemical component of the ginger rhizome, and its stable analogue after digestion in simulated gastric fluid, aza-[6]-gingerol (A6G), on diet-induced body fat accumulation, we synthesized 6G and A6G. Mice were fed either a control regular rodent chow, a high-fat diet (HFD), or a HFD supplemented with 6G and A6G. Magnetic resonance imaging adiposity parameters of the 6G- and A6G-treated mice were compared with those of control mice. Supplementation with 6G and A6G significantly reduced body weight gain, fat accumulation, and circulating levels of insulin and leptin. The mRNA levels of sterol regulatory element-binding protein 1c (SREBP-1c) and acetyl-CoA carboxylase 1 in the liver were significantly lower in mice fed A6G than in HFD control mice. Our findings indicate that A6G, rather than 6G, enhances energy metabolism and reduces the extent of lipogenesis by downregulating SREBP-1c and its related molecules, which leads to the suppression of body fat accumulation.