Wearable Ultrasound Interface for Prosthetic Hand Manipulation

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For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited l ...

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

Ultrasound can non-invasively detect muscle deformations and has great potential applications in prosthetic hand control. Traditional ultrasound equipment was usually too bulky to be applied in wearable scenarios. This research presented a compact ultrasou ...

Human hands play a very important role in daily object manipulation. Current prosthetic hands are capable of mimicking most functions of the human hand, but how to interact with prosthetic hands based on human intentions remains an open problem. In this ar ...

A laser-based ultrasound inspection system comprising an object for inspection (1), a laser device for ultrasound generation (3a), a laser device for ultrasound detection (3b), and a coating arrangement (4) including a laser absorbing layer (4a) disposed o ...

Point-of-care ultrasound (POCUS) is an increasingly accessible skill, allowing for the decentralization of its use to nonspecialist healthcare workers to guide routine clinical decision-making. The advent of ultrasound-on-a-chip has transformed the technol ...

Objective. Accurate decoding of individual finger movements is crucial for advanced prosthetic control. In this work, we introduce the use of Riemannian-space features and temporal dynamics of electrocorticography (ECoG) signal combined with modern machine ...

Whereas pulse-echo ultrasound imaging relied on focused acoustic waves since its inception, the last two decades have seen the development of techniques based on unfocused waves, including ultrafast ultrasound imaging. In large part due to the emergence of ...

Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the reference target positio ...

Among the medical imaging modalities, ultrasound (US) imaging is one of the safest, most widespread, and least expensive method used in medical diagnosis. In the past decades, several technological advances enabled the advent of ultrafast US imaging, an ac ...

Most prosthetic limbs can autonomously move with dexterity, yet they are not perceived by the user as belonging to their own body. Robotic limbs can convey information about the environment with higher precision than biological limbs, but their actual perf ...

Recently, cutting-edge brain-machine interfaces (BMIs) have revealed the potential of decoders such as recurrent neural networks (RNNs) in predicting attempted handwriting [1] or speech [2], enabling rapid communication recovery after paralysis. However, c ...

Low-Intensity Focused Ultrasound Stimulation (LIFUS) holds promise for the remote modulation of neural activity, but an incomplete mechanistic characterization hinders its clinical maturation. Here we developed a computational framework to model intramembr ...

The ability to notice erroneous behavior is crucial for effective training. Within the framework of neuroprosthetics, numerous studies in electroencephalography (EEG) confirm the existence of neural correlates when humans perceive the erroneous actions of ...

Autonomous vehicles (AVs) rely on accurate and robust sensor observations for safety-critical decision making in a variety of conditions. The fundamental building blocks of such systems are sensors and classifiers that process ultrasound, radar, GPS, lidar ...

Ultrasound contrast agents (UCAs) have opened up immense diagnostic possibilities by combined use of indicator dilution principles and dynamic contrast-enhanced ultrasound (DCE-US) imaging. UCAs are microbubbles encapsulated in a biocompatible shell. With ...

Objective. A major challenge in neuroprosthetics is the restoration of sensory-motor hand functions in upper-limb amputees. Neuroprostheses based on the direct re-connection of the peripheral nerves may be an interesting approach for re-establishing the na ...

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

Recent experiments have shown that neural stimulation can successfully restore sensory feedback in upper-limb amputees improving their ability to control the prosthesis. However, the potential advantages of invasive sensory feedback with respect to non-inv ...

Wearable Ultrasound Interface for Prosthetic Hand Manipulation

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