Denny Oetomo

Trajectory redundancy iterative learning control

Publisher: IEEE

Date: 10-2013

DOI: 10.1109/ICCAS.2013.6703895

Swarm aggregation and formation control for robots with limited perception

Publisher: ACTA Press

Date: 2011

DOI: 10.2316/JOURNAL.206.2011.3.206-3383

Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 03-2021

DOI: 10.1109/TCST.2019.2952317

Modelling of human motor control in an unstable task through operational space formulation

Publisher: IEEE

Date: 12-2010

DOI: 10.1109/ICARCV.2010.5707869

Editorial: Special issue on agricultural robotics

Publisher: Springer Science and Business Media LLC

Date: 22-09-2010

DOI: 10.1007/S11370-010-0079-Y

Agricultural robotics [TC Spotlight

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 12-2009

DOI: 10.1109/MRA.2009.934829

Effect of sensory experience on motor learning strategy

Publisher: American Physiological Society

Date: 15-02-2015

DOI: 10.1152/JN.00470.2014

Abstract: It is well known that the central nervous system automatically reduces a mismatch in the visuomotor coordination. Can the underlying learning strategy be modified by environmental factors or a subject's learning experiences? To elucidate this matter, two groups of subjects learned to execute reaching arm movements in environments with task-irrelevant visual cues. However, one group had previous experience of learning these movements using task-relevant visual cues. The results demonstrate that the two groups used different learning strategies for the same visual environment and that the learning strategy was influenced by prior learning experience.

Feedback-Based Iterative Learning Design and Synthesis With Output Constraints for Robotic Manipulators

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 07-2018

DOI: 10.1109/LCSYS.2018.2842186

Enhanced fault reconstruction using cascaded sliding mode observers

Publisher: IEEE

Date: 2012

DOI: 10.1109/VSS.2012.6163503

Beta Mixture Model for the Uncertainties in Robotic Haptic Object Identification

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 08-2022

DOI: 10.1109/TMECH.2022.3175491

An investigation into the reliability of upper-limb robotic exoskeleton measurements for clinical evaluation in neurorehabilitation

Publisher: IEEE

Date: 04-2015

DOI: 10.1109/NER.2015.7146743

Motion planning for underactuated bipedal mechanisms with kinematic constraints

Publisher: IEEE

Date: 11-2013

DOI: 10.1109/ICAR.2013.6766482

Personalized Online Adaptation of Kinematic Synergies for Human-Prosthesis Interfaces

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 02-2021

DOI: 10.1109/TCYB.2019.2920376

Disturbance decoupled fault reconstruction using cascaded sliding mode observers

Publisher: Elsevier BV

Date: 05-2012

DOI: 10.1016/J.AUTOMATICA.2012.02.005

Tactile-Based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 04-2018

DOI: 10.1109/LRA.2018.2794612

Task-Space Synergies for Reaching Using Upper-Limb Prostheses

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 12-2020

DOI: 10.1109/TNSRE.2020.3036320

Shock absorbing ability of articular cartilage and subchondral bone under impact compression

Publisher: Elsevier BV

Date: 10-2013

DOI: 10.1016/J.JMBBM.2013.05.005

Abstract: Despite the important role of subchondral bone in maintaining the integrity of the overlying articular cartilage, little research has focused on measuring its mechanical behavior, particularly under injurious load conditions such as impact compression. In this study, the stiffness and the absorbed energy of subchondral bone were compared to that of its overlying cartilage by applying impact compression to equine cartilage-bone specimens. Deformations of the cartilage and subchondral bone were examined independently within the cartilage-bone unit by analyzing real-time images of cartilage-bone explants. Peak subchondral bone and cartilage stiffness (mean ± SD) were 800.7 ± 250.0 MPa and 119.9 ± 50.8 MPa respectively. The maximum absorbed energy per unit volume of subchondral bone was approximately 4 times lower than that of cartilage. Micro-computed tomography (μCT) images at 9 μm resolution revealed oblique fissures at the cartilage articular surface. At the cartilage-bone interface, micro-cracks as thin as 30 μm in width and micro-fractures of width 200 μm could be seen in the μCT images. The relative energy loss in bone was 76.5 ± 6.8% in specimens with bone fracture and 23.0 ± 20.4% in specimens without bone fracture. Our results indicate that both articular cartilage and subchondral bone absorb shock under impact compression, but the energy absorption of bone is much higher in specimens that fracture. This may spare the overlying cartilage from immediate injury, but is a potential risk for subsequent post-traumatic osteoarthritis (PTOA).

Triple Degree-of-Freedom Piezoelectric Ultrasonic Micromotor via Flexural-Axial

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 08-2009

DOI: 10.1109/TUFFC.2009.1236

A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 04-2019

DOI: 10.1109/LRA.2019.2892203

Technical Note for “Tactile-Based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands”

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 04-2020

DOI: 10.1109/LRA.2020.2977585

Inducing Human Motor Adaptation Without Explicit Error Feedback: A Motor Cost Approach

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 2021

DOI: 10.1109/TNSRE.2021.3096516

Effects of robotic exoskeleton dynamics on joint recruitment in a neurorehabilitation context

Publisher: IEEE

Date: 08-2015

DOI: 10.1109/ICORR.2015.7281306

On on-line sampled-data optimal learning for dynamic systems with uncertainties

Publisher: IEEE

Date: 06-2013

DOI: 10.1109/ASCC.2013.6606377

Speed control of non-collocated stator-rotor synchronous motor with application in robotic surgery

Publisher: IEEE

Date: 05-2015

DOI: 10.1109/ASCC.2015.7244830

Human motor learning through iterativemodel reference adaptive control

Publisher: Elsevier BV

Date: 2011

DOI: 10.3182/20110828-6-IT-1002.02688

Restrained tibial rotation may prevent ACL injury during landing at different flexion angles

Publisher: Elsevier BV

Date: 2015

DOI: 10.1016/J.KNEE.2014.09.012

Abstract: Internal tibial rotation is a risk factor for anterior cruciate ligament (ACL) injury. The effect of restraining tibial rotation (RTR) to prevent ACL injury during single-leg landing is not well understood. We aimed to investigate the effect of impact load and RTR on ACL injury with respect to flexion angle. We hypothesized that RTR could protect the knee from ACL injury compared to free tibial rotation (FTR) regardless of flexion angle and create a safety zone to protect the ACL. Thirty porcine specimens were potted in a rig manufactured to replicate single-leg landing maneuvers. A mechanical testing machine was used to apply external forces in the direction of the tibial long axis. A 3D displacement sensor measured anterior tibial translation (ATT). The specimens were ided into 3 groups of 10 specimens and tested at flexion angles of 22 ± 1°, 37 ± 1° and 52 ± 1° (five RTR and five FTR) through a consecutive range of actuator displacements until ACL failure. After dissection, damage to the joint was visually recorded. Two-way ANOVA were utilized in order to compare compressive forces, torques and A/P displacements with respect to flexion angle. The largest difference between peak axial compressive forces (~3.4 kN) causing ACL injury between RTR and FTR was reported at a flexion angle of 22°. Tibial torques with RTR was in the same range and < 20 Nm at the instance and just before ACL failure, compared to a significant reduction when cartilage/bone damage (no ACL failure) was reported. Isolated ACL injuries were observed in ten of the 15 FTR specimens. Injuries to bone and cartilage were more common with RTR. RTR increases the threshold for ACL injury by elevating the compressive impact load required at lower flexion angles. These findings may contribute to neuromuscular training programs or brace designs used to avoid excessive internal/external tibial rotation. Caution must be exercised as bone/cartilage damage may result.

Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 04-2019

DOI: 10.1109/LRA.2019.2894908

Upper Limb Deweighting Using Underactuated End-Effector-Based Backdrivable Manipulanda

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 07-2018

DOI: 10.1109/LRA.2018.2809605

Surgical Robotic Manipulator Based on Local Magnetic Actuation1

Publisher: ASME International

Date: 09-2015

DOI: 10.1115/1.4030567

Magnetic-based Soft Tactile Sensors with Deformable Continuous Force Transfer Medium for Resolving Contact Locations in Robotic Grasping and Manipulation

Publisher: MDPI AG

Date: 12-11-2019

DOI: 10.3390/S19224925

Abstract: The resolution of contact location is important in many applications in robotics and automation. This is generally done by using an array of contact or tactile receptors, which increases cost and complexity as the required resolution or area is increased. Tactile sensors have also been developed using a continuous deformable medium between the contact and the receptors, which allows few receptors to interpolate the information among them, avoiding the weakness highlighted in the former approach. The latter is generally used to measure contact force intensity or magnitude but rarely used to identify the contact locations. This paper presents a systematic design and characterisation procedure for magnetic-based soft tactile sensors (utilizing the latter approach with the deformable contact medium) with the goal of locating the contact force location. This systematic procedure provides conditions under which design parameters can be selected, supported by a selected machine learning algorithm, to achieve the desired performance of the tactile sensor in identifying the contact location. An illustrative ex le, which combines a particular sensor configuration (magnetic hall effect sensor as the receptor, a selected continuous medium and a selected sensing resolution) and a specific data-driven algorithm, is used to illustrate the proposed design procedure. The results of the illustrative ex le design demonstrates the efficacy of the proposed design procedure and the proposed sensing strategy in identifying a contact location. The resulting sensor is also tested on a robotic hand (Allegro Hand, SimLab Co) to demonstrate its application in real-world scenarios.

Electromagnetic Actuator Across Abdominal Wall for Minimally Invasive Robotic Surgery1

Publisher: ASME International

Date: 09-2015

DOI: 10.1115/1.4030568

Disturbance Rejection in Multi-DOF Local Magnetic Actuation for the Robotic Abdominal Surgery

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 07-2018

DOI: 10.1109/LRA.2018.2800795

On experimentally validated iterative learning control in human motor systems

Publisher: IEEE

Date: 06-2014

DOI: 10.1109/ACC.2014.6859241

Modeling individual human motor behavior through model reference iterative learning control

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 07-2012

DOI: 10.1109/TBME.2012.2192437

Editorial: Agricultural robotics

Publisher: Wiley

Date: 24-04-2009

DOI: 10.1002/ROB.20302

Exploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic Interfaces

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 04-2021

DOI: 10.1109/LRA.2021.3061351

Human Movement Understanding [TC Spotlight]

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 09-2015

DOI: 10.1109/MRA.2015.2452171

Feature Identification Framework for Back Injury Risk in Repetitive Work With Application in Sheep Shearing

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 02-2023

DOI: 10.1109/TBME.2022.3199025

Weak Monotonicity With Trend Analysis for Unsupervised Feature Evaluation

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 11-2023

DOI: 10.1109/TCYB.2022.3166766

Linear Diophantine equation (LDE) decoder: A training‐free decoding algorithm for multifrequency SSVEP with reduced computation cost

Publisher: Wiley

Date: 02-03-2023

DOI: 10.1002/ASJC.3050

Abstract: Multifrequency steady‐state visual evoked potentials (SSVEPs) have been developed to extend the capability of SSVEP‐based brain‐machine interfaces (BMIs) to complex applications that have large numbers of targets. Even though various multifrequency stimulation methods have been introduced, the decoding algorithms for multifrequency SSVEP are still in early development. The recently developed multifrequency canonical correlation analysis (MFCCA) was shown to be a feasible training‐free option to use in decoding multifrequency SSVEPs. However, the time complexity of MFCCA is shown to be , which will lead to long computation time as grows, where represents the input size in decoding. In this paper, a novel decoding algorithm is proposed with the aim to reduce the time complexity. This algorithm is based on linear Diophantine equation solvers and has a reduced computation cost while remaining training‐free. Our simulation results demonstrated that linear Diophantine equation (LDE) decoder run time is only one fifth of MFCCA run time under respective optimal settings on 5‐s single‐channel data. This reduced computation cost makes it easier to implement multifrequency SSVEP in real‐time systems. The effectiveness of this new decoding algorithm is validated with nine healthy participants when using dry electrode scalp electroencephalography (EEG).

Contributions of the Soleus and Gastrocnemius muscles to the anterior cruciate ligament loading during single-leg landing

Publisher: Elsevier BV

Date: 07-2013

DOI: 10.1016/J.JBIOMECH.2013.04.010

Abstract: The aim of this study was to identify the contribution of the Soleus and Gastrocnemius (Gastroc) muscles' forces to anterior cruciate ligament (ACL) loading during single-leg landing. Although Quadriceps (Quads) and Hamstrings (Hams) muscles were recognized as the main contributors to the ACL loading, less is known regarding the role of ankle joint plantarflexors during landing. Eight healthy subjects performed single-landing tasks from 30 and 60cm heights. Scaled generic musculoskeletal models were developed in OpenSim to calculate lower limb muscle forces. The model consisted of 10 segments with 23 degrees of freedom and 92 lower body muscle-tendon units. Knee joint reaction forces were calculated based on the estimated muscle forces and used to predict ACL forces. We hypothesized that Soleus and Gastrocs muscle forces have opposite effects on tibial loading in the anterior osterior directions. In situations where greater landing height would lead to an increase in GRF and risk of ACL injury, we further hypothesized that posterior forces of the Soleus and Hams would increase correspondingly to help protect the ACL during a safe landing maneuver. Our results demonstrated the antagonistic and agonistic roles of Gastrocs and Soleus respectively in ACL loading. The posterior force of Soleus reached 28-32% of Ham's posterior force for both landing heights at peak GRF while the posterior force of Gastrocs on femur was negligible. ACL injury risk during single-leg landing is not only dependent on knee musculature but also influenced by muscles that do not span the knee joint, such as the Soleus. In conclusion, the role of the ankle plantarflexors should be considered when developing training strategies for ACL injury prevention.

Evaluating Rehabilitation Progress Using Motion Features Identified by Machine Learning

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 04-2021

DOI: 10.1109/TBME.2020.3036095

Lavoisier’s “Reflections on phlogiston” II: on the nature of heat

Publisher: Springer Science and Business Media LLC

Date: 16-07-2015

DOI: 10.1007/S10698-015-9236-X

Sensor Selection With Composite Features in Identifying User-Intended Poses for Human-Prosthetic Interfaces

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Date: 2023

DOI: 10.1109/TNSRE.2023.3258225

Discovery Projects - Grant ID: DP0985120

Start Date: 03-2009

End Date: 12-2014

Amount: $200,000.00

Funder: Australian Research Council

Linkage Projects - Grant ID: LP180101074

Start Date: 01-2020

End Date: 01-2023

Amount: $450,000.00

Funder: Australian Research Council

Discovery Projects - Grant ID: DP200102402

Start Date: 01-2020

End Date: 2023

Amount: $454,000.00

Funder: Australian Research Council

Discovery Projects - Grant ID: DP1093476

Start Date: 2010

End Date: 12-2013

Amount: $352,000.00

Funder: Australian Research Council

Linkage Projects - Grant ID: LP220100417

Start Date: 2023

End Date: 12-2025

Amount: $285,684.00

Funder: Australian Research Council

Discovery Projects - Grant ID: DP160104018

Start Date: 2016

End Date: 12-2018

Amount: $310,000.00

Funder: Australian Research Council

Linkage Projects - Grant ID: LP130100113

Start Date: 01-2014

End Date: 12-2017

Amount: $195,000.00

Funder: Australian Research Council

Discovery Projects - Grant ID: DP130100849

Start Date: 2013

End Date: 02-2017

Amount: $360,000.00

Funder: Australian Research Council

Linkage Infrastructure, Equipment And Facilities - Grant ID: LE0775692

Start Date: 07-2007

End Date: 12-2008

Amount: $430,000.00

Funder: Australian Research Council