Human performance in three-hands tasks

Noccaro, A.; Eden, Jonathan; Pino, Giovanni Di; Formica, Domenico; Burdet, Etienne

doi:10.1038/s41598-021-88862-9

Cited by 19 publications

(19 citation statements)

References 18 publications

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“…Our results concurred with the findings of Huang et al (2020b) and Noccaro et al (2021), regarding the dominant hand and foot but not for the non-dominant hand. Namely, in our experiment, the marker of the tool controlled by the non-dominant hand showed preferred coordination with that of the foot.…”

Section: Resultssupporting

confidence: 91%

“…We can compare our condition without coordination assistance. Huang et al (2020c) and Noccaro et al (2021) tested in virtual reality the control of three 2 DoF cursors with the hands and the foot. In their experiments, both hands and foot were virtually constrained with a spring.…”

Section: Resultsmentioning

confidence: 99%

“…Nonetheless, the capacity to coordinate the positioning of both hands and feet has only been studied in a few works and mainly in virtual reality and limited to 2–3 degrees of freedom (DoFs) (see Abdi et al, 2015, 2016; Noccaro et al, 2021; Huang et al, 2020c). If these works highlight the ability of human to use the feet in conjunction with the hands, and perform tasks that a dyad would do, they also point out the difficulties when needing coordination between all the limbs for the tasks (Noccaro et al, 2021; Huang et al, 2020b,c), thus motivating the use of shared control. Therefore, in this work, we report the realization of a real robotic setup featuring the use of a single foot to tele-control a gripper dexterously, assisted by another foot tele-controlling a camera.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Sanchez

Amanhoud

Billard

et al. 2023

The International Journal of Robotics Research

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Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the task of the hands. Such a system opens the door for simultaneous control of four laparoscopic tools by the same user. Each hand controls a manipulative tool while a foot controls an endoscope/camera and another controls an actuated gripper. In this scenario, the surgeon and robots need to work collaboratively within a concurrent workspace, while meeting the precision demands of surgery. To this end, we propose a control framework for the robotic arms that deals with all the task- and safety-related constraints. Furthermore, to ease the control through the feet, two assistance modalities are proposed: adaptive visual tracking of the laparoscopic instruments with the camera and grasping assistance for the gripper. A user study is conducted on twelve subjects to highlight the ease of use of the system and to evaluate the relevance of the proposed shared control strategies. The results confirm the feasibility of four-arm surgical-like tasks without extensive training in tasks that involve visual-tracking and manipulation goals for the feet, as well as coordination with both hands. Moreover, our study characterizes and motivates the use of robotic assistance for reducing task load, improving performance, increasing fluency, and eliciting higher coordination during four-arm laparoscopic tasks.

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Section: Resultssupporting

confidence: 91%

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Sanchez

Amanhoud

Billard

et al. 2023

The International Journal of Robotics Research

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show abstract

“…However, such coupling does result in reduced performance and when continuously tracking additionally leads to increased mental effort 42 . Finally, when comparing subject performance to that of dyads, the dyad has to date outperformed the single user controlling an SE who had the higher mental effort in all tested cases 112,113 . However, the relative difference between results appears to reduce in coupled motion (all coupled and all dependent) 112 , and may disappear when haptic feedback and some learning is provided 113 , although users still reported increased mental effort.…”

Section: Application Scenariosmentioning

confidence: 97%

Principles of human movement augmentation and the challenges in making it a reality

et al. 2022

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Augmenting the body with artificial limbs controlled concurrently to one’s natural limbs has long appeared in science fiction, but recent technological and neuroscientific advances have begun to make this possible. By allowing individuals to achieve otherwise impossible actions, movement augmentation could revolutionize medical and industrial applications and profoundly change the way humans interact with the environment. Here, we construct a movement augmentation taxonomy through what is augmented and how it is achieved. With this framework, we analyze augmentation that extends the number of degrees-of-freedom, discuss critical features of effective augmentation such as physiological control signals, sensory feedback and learning as well as application scenarios, and propose a vision for the field.

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“…Their HMIs are often based on the use of foot movements ( 12 – 18 )—a strategy that limits the walking possibilities of the users. Moreover, only a few have gone beyond their initial proof of concept, with limited functional characterization ( 19 – 21 ), and several examples limited their assessment to only virtual extra arms, without translation to a physical device ( 12 , 15 – 17 ). As we recently pointed out ( 2 ), neural resources allocation is a major challenge in the field.…”

Section: Introductionmentioning

confidence: 99%

Human motor augmentation with an extra robotic arm without functional interference

Dominijanni,

Pinheiro,

Pollina

et al. 2023

Sci. Robot.

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Extra robotic arms (XRAs) are gaining interest in neuroscience and robotics, offering potential tools for daily activities. However, this compelling opportunity poses new challenges for sensorimotor control strategies and human-machine interfaces (HMIs). A key unsolved challenge is allowing users to proficiently control XRAs without hindering their existing functions. To address this, we propose a pipeline to identify suitable HMIs given a defined task to accomplish with the XRA. Following such a scheme, we assessed a multimodal motor HMI based on gaze detection and diaphragmatic respiration in a purposely designed modular neurorobotic platform integrating virtual reality and a bilateral upper limb exoskeleton. Our results show that the proposed HMI does not interfere with speaking or visual exploration and that it can be used to control an extra virtual arm independently from the biological ones or in coordination with them. Participants showed significant improvements in performance with daily training and retention of learning, with no further improvements when artificial haptic feedback was provided. As a final proof of concept, naïve and experienced participants used a simplified version of the HMI to control a wearable XRA. Our analysis indicates how the presented HMI can be effectively used to control XRAs. The observation that experienced users achieved a success rate 22.2% higher than that of naïve users, combined with the result that naïve users showed average success rates of 74% when they first engaged with the system, endorses the viability of both the virtual reality–based testing and training and the proposed pipeline.

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Human performance in three-hands tasks

Cited by 19 publications

References 18 publications

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Principles of human movement augmentation and the challenges in making it a reality

Human motor augmentation with an extra robotic arm without functional interference

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