Towards Autonomous Retail Stocking and Picking: Methods Enabling Robust Vacuum-Based Robotic Manipulation in Densely Packed Environments.

With the advent of robotics and artificial intelligence, the potential for automating tasks within human-centric environments has increased significantly. This is particularly relevant in the retail sector where the demand for efficient operations and the shortage of labor drive the need for rapid advancements in robot-based technologies. Densely packed retail shelves pose unique challenges for robotic manipulation and detection due to limited space and diverse object shapes.

Centre of Pressure Estimation during Walking Using Only Inertial-Measurement Units and End-To-End Statistical Modelling.

Estimation of the centre of pressure (COP) is an important part of the gait analysis, for example, when evaluating the functional capacity of individuals affected by motor impairment. Inertial measurement units (IMUs) and force sensors are commonly used to measure gait characteristic of healthy and impaired subjects. We present a methodology for estimating the COP solely from raw gyroscope, accelerometer, and magnetometer data from IMUs using statistical modelling.

An affordable, adaptable, and hybrid assistive device for upper-limb neurorehabilitation.

The paper presents a multisensory and multimodal device for neuromuscular rehabilitation of the upper limb, designed to enable enriched rehabilitation treatment in both clinical and home environments. Originating from an existing low-cost, variable-stiffness rehabilitation device, it expands its functionalities by integrating additional modules in order to augment application scenarios and applicable clinical techniques. The newly developed system focuses on the integration of a wearable neuromuscular electrical stimulation system, a virtual rehabilitation scenario, a low-cost unobtrusive sensory system and a patient model for adapting training task parameters.

Toward real-time automated detection of turns during gait using wearable inertial measurement units.

Previous studies have presented algorithms for detection of turns during gait using wearable sensors, but those algorithms were not built for real-time use. This paper therefore investigates the optimal approach for real-time detection of planned turns during gait using wearable inertial measurement units. Several different sensor positions (head, back and legs) and three different detection criteria (orientation, angular velocity and both) are compared with regard to their ability to correctly detect turn onset.

Magnetic resonance spectroscopy (MRS) of vertebral column - an additional tool for evaluation of aggressiveness of vertebral haemangioma like lesion.

Background: Most vertebral haemangioma are asymptomatic and discovered incidentally. Sometimes the symptomatic lesions present with radiological signs of aggressiveness and their appearance resemble other aggressive lesions (e.g.

Automated detection of gait initiation and termination using wearable sensors.

This paper presents algorithms for detection of gait initiation and termination using wearable inertial measurement units and pressure-sensitive insoles. Body joint angles, joint angular velocities, ground reaction force and center of plantar pressure of each foot are obtained from these sensors and input into supervised machine learning algorithms. The proposed initiation detection method recognizes two events: gait onset (an anticipatory movement preceding foot lifting) and toe-off.

A flexible sensor technology for the distributed measurement of interaction pressure.

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes and shapes, and to measure different pressure ranges.

3T MRI in evaluation of asbestos-related thoracic diseases - preliminary results.

Background: 3T high-field magnetic resonance imaging (MRI) scanners have recently become available for the clinical use and are being increasingly applied in the field of whole-body imaging and chest imaging as well. The aim of this study was to evaluate the diagnostic potential of 3 T MRI as a complementary imaging modality to CT in detecting the pathological changes of asbestos-related thoracic diseases.

Patients And Methods: Fifteen patients with the asbestos-related thoracic disease were scheduled for 3T MRI.

Psychophysiological responses to robotic rehabilitation tasks in stroke.

This paper presents the analysis of four psychophysiological responses in post-stroke upper extremity rehabilitation. The goal was to determine which psychophysiological responses would provide the most reliable information about subjects' psychological states during rehabilitation. Heart rate, skin conductance, respiration, and skin temperature were recorded in a stroke group and a control group during two difficulty levels of a pick-and-place task performed in a virtual environment using a haptic robot and during a cognitive task.

Pick to place trajectories in human arm training environment.

This paper presents a new method of trajectory planning in rehabilitation robotics. First were measured in healthy subject the pick to place trajectories while haptic robot is in zero impedance space. B-spline approximation is used to mathematically define the measured paths.