Expert-in-the-Loop Multilateral Telerobotics for Haptics-Enabled Motor Function and Skills Development

Among medical robotics applications are Robotics-Assisted Mirror Rehabilitation Therapy (RAMRT) and Minimally-Invasive Surgical Training (RAMIST) that extensively rely on motor function development. Haptics-enabled expert-in-the-loop motor function development for such applications is made possible through multilateral telerobotic frameworks. While several studies have validated the benefits of haptic interaction with an expert in motor learning, contradictory results have also been reported. This emphasizes the need for further in-depth studies on the nature of human motor learning through haptic guidance and interaction. The objective of this study was to design and evaluate expert-in-the-loop multilateral telerobotic frameworks with stable and human-safe control loops that enable adaptive “hand-over-hand” haptic guidance for RAMRT and RAMIST. The first prerequisite for such frameworks is active involvement of the patient or trainee, which requires the closed-loop system to remain stable in the presence of an adaptable time-varying dominance factor. To this end, a wave-variable controller is proposed in this study for conventional trilateral teleoperation systems such that system stability is guaranteed in the presence of a time-varying dominance factor and communication delay. Similar to other wave-variable approaches, the controller is initially developed for the Velocity-force Domain (VD) based on the well-known passivity assumption on the human arm in VD. The controller can be applied straightforwardly to the Position-force Domain (PD), eliminating position-error accumulation and position drift, provided that passivity of the human arm in PD is addressed. However, the latter has been ignored in the literature. Therefore, in this study, passivity of the human arm in PD is investigated using mathematical analysis, experimentation as well as user studies involving 12 participants and 48 trials. The results, in conjunction with the proposed wave-variables, can be used to guarantee closed-loop PD stability of the supervised trilateral teleoperation system in its classical format. The classic dual-user teleoperation architecture does not, however, fully satisfy the requirements for properly imparting motor function (skills) in RAMRT (RAMIST). Consequently, the next part of this study focuses on designing novel supervised trilateral frameworks for providing motor learning in RAMRT and RAMIST, each customized according to the requirements of the application. The framework proposed for RAMRT includes the following features: a) therapist-in-the-loop mirror therapy; b) haptic feedback to the therapist from the patient side; c) assist-as-needed therapy realized through an adaptive Guidance Virtual Fixture (GVF); and d) real-time task-independent and patient-specific motor-function assessment. Closed-loop stability of the proposed framework is investigated using a combination of the Circle Criterion and the Small-Gain Theorem. The stability analysis addresses the instabilities caused by: a) communication delays between the therapist and the patient, facilitating haptics-enabled tele- or in-home rehabilitation; and b) the integration of the time-varying nonlinear GVF element into the delayed system. The platform is experimentally evaluated on a trilateral rehabilitation setup consisting of two Quanser rehabilitation robots and one Quanser HD2 robot. The framework proposed for RAMIST includes the following features: a) haptics-enabled expert-in-the-loop surgical training; b) adaptive expertise-oriented training, realized through a Fuzzy Interface System, which actively engages the trainees while providing them with appropriate skills-oriented levels of training; and c) task-independent skills assessment. Closed-loop stability of the architecture is analyzed using the Circle Criterion in the presence and absence of haptic feedback of tool-tissue interactions. In addition to the time-varying elements of the system, the stability analysis approach also addresses communication delays, facilitating tele-surgical training. The platform is implemented on a dual-console surgical setup consisting of the classic da Vinci surgical system (Intuitive Surgical, Inc., Sunnyvale, CA), integrated with the da Vinci Research Kit (dVRK) motor controllers, and the dV-Trainer master console (Mimic Technology Inc., Seattle, WA). In order to save on the expert\u27s (therapist\u27s) time, dual-console architectures can also be expanded to accommodate simultaneous training (rehabilitation) for multiple trainees (patients). As the first step in doing this, the last part of this thesis focuses on the development of a multi-master/single-slave telerobotic framework, along with controller design and closed-loop stability analysis in the presence of communication delays. Various parts of this study are supported with a number of experimental implementations and evaluations. The outcomes of this research include multilateral telerobotic testbeds for further studies on the nature of human motor learning and retention through haptic guidance and interaction. They also enable investigation of the impact of communication time delays on supervised haptics-enabled motor function improvement through tele-rehabilitation and mentoring

Sensorimotor experience in virtual environments

The goal of rehabilitation is to reduce impairment and provide functional improvements resulting in quality participation in activities of life, Plasticity and motor learning principles provide inspiration for therapeutic interventions including movement repetition in a virtual reality environment, The objective of this research work was to investigate functional specific measurements (kinematic, behavioral) and neural correlates of motor experience of hand gesture activities in virtual environments stimulating sensory experience (VE) using a hand agent model. The fMRI compatible Virtual Environment Sign Language Instruction (VESLI) System was designed and developed to provide a number of rehabilitation and measurement features, to identify optimal learning conditions for individuals and to track changes in performance over time. Therapies and measurements incorporated into VESLI target and track specific impairments underlying dysfunction. The goal of improved measurement is to develop targeted interventions embedded in higher level tasks and to accurately track specific gains to understand the responses to treatment, and the impact the response may have upon higher level function such as participation in life. To further clarify the biological model of motor experiences and to understand the added value and role of virtual sensory stimulation and feedback which includes seeing one\u27s own hand movement, functional brain mapping was conducted with simultaneous kinematic analysis in healthy controls and in stroke subjects. It is believed that through the understanding of these neural activations, rehabilitation strategies advantaging the principles of plasticity and motor learning will become possible. The present research assessed successful practice conditions promoting gesture learning behavior in the individual. For the first time, functional imaging experiments mapped neural correlates of human interactions with complex virtual reality hands avatars moving synchronously with the subject\u27s own hands, Findings indicate that healthy control subjects learned intransitive gestures in virtual environments using the first and third person avatars, picture and text definitions, and while viewing visual feedback of their own hands, virtual hands avatars, and in the control condition, hidden hands. Moreover, exercise in a virtual environment with a first person avatar of hands recruited insular cortex activation over time, which might indicate that this activation has been associated with a sense of agency. Sensory augmentation in virtual environments modulated activations of important brain regions associated with action observation and action execution. Quality of the visual feedback was modulated and brain areas were identified where the amount of brain activation was positively or negatively correlated with the visual feedback, When subjects moved the right hand and saw unexpected response, the left virtual avatar hand moved, neural activation increased in the motor cortex ipsilateral to the moving hand This visual modulation might provide a helpful rehabilitation therapy for people with paralysis of the limb through visual augmentation of skills. A model was developed to study the effects of sensorimotor experience in virtual environments, and findings of the effect of sensorimotor experience in virtual environments upon brain activity and related behavioral measures. The research model represents a significant contribution to neuroscience research, and translational engineering practice, A model of neural activations correlated with kinematics and behavior can profoundly influence the delivery of rehabilitative services in the coming years by giving clinicians a framework for engaging patients in a sensorimotor environment that can optimally facilitate neural reorganization

Prediction and control in human neuromusculoskeletal models

Computational neuromusculoskeletal modelling enables the generation and testing of hypotheses about human movement on a large scale, in silico. Humanoid models, which increasingly aim to replicate the full complexity of the human nervous and musculoskeletal systems, are built on extensive prior knowledge, extracted from anatomical imaging, kinematic and kinetic measurement, and codified as model description. Where inverse dynamic analysis is applied, its basis is in Newton's laws of motion, and in solving for muscular redundancy it is necessary to invoke knowledge of central nervous motor strategy. This epistemological approach contrasts strongly with the models of machine learning, which are generally over-parameterised and largely data-driven. Even as spectacular performance has been delivered by the application of these models in a number of discrete domains of artificial intelligence, work towards general human-level intelligence has faltered, leading many to wonder if the data-driven approach is fundamentally limited, and spurring efforts to combine machine learning with knowledge-based modelling. Through a series of five studies, this thesis explores the combination of neuromusculoskeletal modelling with machine learning in order to enhance the core tasks of prediction and control. Several principles for the development of clinically useful artificially intelligent systems emerge: stability, computational efficiency and incorporation of prior knowledge. The first study concerns the use of neural network function approximators for the prediction of internal forces during human movement, an important task with many clinical applications, but one for which the standard tools of modelling are slow and cumbersome. By training on a large dataset of motions and their corresponding forces, state of the art performance is demonstrated, with many-fold increases in inference speed enabling the deployment of trained models for use in a real time biofeedback system. Neural networks trained in this way, to imitate some optimal controller, encode a mapping from high-level movement descriptors to actuator commands, and may thus be deployed in simulation as \textit{policies} to control the actions of humanoid models. Unfortunately, the high complexity of realistic simulation makes stable control a challenging task, beyond the capabilities of such naively trained models. The objective of the second study was to improve performance and stability of policy-based controllers for humanoid models in simulation. A novel technique was developed, borrowing from established unsupervised adversarial methods in computer vision. This technique enabled significant gains in performance relative to a neural network baseline, without the need for additional access to the optimal controller. For the third study, increases in the capabilities of these policy-based controllers were sought. Reinforcement learning is widely considered the most powerful means of optimising such policies, but it is computationally inefficient, and this inefficiency limits its clinical utility. To mitigate this problem, a novel framework, making use of domain-specific knowledge present in motion data, and in an inverse model of the biomechanical system, was developed. Training on simple desktop hardware, this framework enabled rapid initialisation of humanoid models that were able to move naturally through a 3-dimensional simulated environment, with 900-fold improvements in sample efficiency relative to a related technique based on pure reinforcement learning. After training with subject-specific anatomical parameters, and motion data, learned policies represent personalised models of motor control that may be further interrogated to test hypotheses about movement. For the fourth study, subject-specific controllers were taken and used as the substrate for transfer learning, by removing kinematic constraints and optimising with respect to the magnitude of the medial knee joint reaction force, an important biomechanical variable in osteoarthritis of the knee. Models learned new kinematic strategies for the reduction of this biomarker, which were subsequently validated by their use, in the real world, to construct subject-specific routines for real time gait retraining. Six out of eight subjects were able to reduce medial knee joint loading by pursuing the personalised kinematic targets found in simulation. Personalisation of assistive devices, such as limb prostheses, is another area of growing interest, and one for which computational frameworks promise cost-effective solutions. Reinforcement learning provides powerful techniques for this task but the expansion of the scope of optimisation, to include previously static elements of a prosthesis, is problematic for its complexity and resulting sample inefficiency. The fifth and final study demonstrates a new algorithm that leverages the methods described in the previous studies, and additional techniques for variance control, to surmount this problem, improving sample efficiency and simultaneously, through the use of prior knowledge encoded in motion data, providing a rational means of determining optimality in the prosthesis. Trained models were able to jointly optimise motor control and prosthesis design to enable improved performance in a walking task, and optimised designs were robust to both random seed and reward specification. This algorithm could be used to speed the design and production of real personalised prostheses, representing a potent realisation of the potential benefits of combined reinforcement learning and realistic neuromusculoskeletal modelling.Open Acces

Doctor in Philosophy

dissertationPreparing the nervous system prior to practicing a new task may be a viable way to augment motor learning. This approach, known as priming, attempts to make the nervous system more effective during practice by preparing it prior to practice. The development and adaptation of motor behavior occurs through a process of error-based learning. An error response in a cognitive task elicits an amplified neurophysiological response within the prefrontal cortex that is thought to indicate activation of the error monitoring system. This amplified neurophysiological response is indicative of an increase in error detection as a means to improve performance. Priming the error detection system might make error detection in a subsequent motor task easier and faster than if the system were not primed. This ultimately might result in improved learning. If successful, priming error detection may prove to effectively improve learning of new skills (or relearning of previously-learned motor skills) in rehabilitation. We evaluated the effect of priming error detection on learning a motor task. We hypothesized that priming error detection would result in improved motor performance throughout the learning process (up to one week) on the trained task and untrained tasks when compared to a group who was not primed for error detection. Thirty healthy young adults were randomized into two groups. Each group trained on a functional reaching task following completion of their respective priming task. Motor performance on the trained task and two other untrained tasks were assessed one day after training and one week after training. Another group was recruited as a no-training group to determine if improvements on the untrained tasks were due to motor skill transfer. Results of this study demonstrated that priming error detection just prior to training may increase the rate, but not the amount, of motor task learning. Further, the groups improvement on the untrained tasks (i.e., transfer tasks) was not due to motor skill transfer as the no-training group improved a similar amount. Collectively, priming error detection prior to motor training may be a viable method for augmenting learning of a motor task. Further, the results suggesting that transfer did not occur should be interpreted cautiously as our testing conditions may have caused sufficient repetitions of the transfer tasks throughout the protocol that a learning effect occurred

Investigating Real-time Touchless Hand Interaction and Machine Learning Agents in Immersive Learning Environments

The recent surge in the adoption of new technologies and innovations in connectivity, interaction technology, and artificial realities can fundamentally change the digital world. eXtended Reality (XR), with its potential to bridge the virtual and real environments, creates new possibilities to develop more engaging and productive learning experiences. Evidence is emerging that thissophisticated technology offers new ways to improve the learning process for better student interaction and engagement. Recently, immersive technology has garnered much attention as an interactive technology that facilitates direct interaction with virtual objects in the real world. Furthermore, these virtual objects can be surrogates for real-world teaching resources, allowing for virtual labs. Thus XR could enable learning experiences that would not bepossible in impoverished educational systems worldwide. Interestingly, concepts such as virtual hand interaction and techniques such as machine learning are still not widely investigated in immersive learning. Hand interaction technologies in virtual environments can support the kinesthetic learning pedagogical approach, and the need for its touchless interaction nature hasincreased exceptionally in the post-COVID world. By implementing and evaluating real-time hand interaction technology for kinesthetic learning and machine learning agents for self-guided learning, this research has addressed these underutilized technologies to demonstrate the efficiency of immersive learning. This thesis has explored different hand-tracking APIs and devices to integrate real-time hand interaction techniques. These hand interaction techniques and integrated machine learning agents using reinforcement learning are evaluated with different display devices to test compatibility. The proposed approach aims to provide self-guided, more productive, and interactive learning experiences. Further, this research has investigated ethics, privacy, and security issues in XR and covered the future of immersive learning in the Metaverse.<br/

Investigating Real-time Touchless Hand Interaction and Machine Learning Agents in Immersive Learning Environments

The recent surge in the adoption of new technologies and innovations in connectivity, interaction technology, and artificial realities can fundamentally change the digital world. eXtended Reality (XR), with its potential to bridge the virtual and real environments, creates new possibilities to develop more engaging and productive learning experiences. Evidence is emerging that thissophisticated technology offers new ways to improve the learning process for better student interaction and engagement. Recently, immersive technology has garnered much attention as an interactive technology that facilitates direct interaction with virtual objects in the real world. Furthermore, these virtual objects can be surrogates for real-world teaching resources, allowing for virtual labs. Thus XR could enable learning experiences that would not bepossible in impoverished educational systems worldwide. Interestingly, concepts such as virtual hand interaction and techniques such as machine learning are still not widely investigated in immersive learning. Hand interaction technologies in virtual environments can support the kinesthetic learning pedagogical approach, and the need for its touchless interaction nature hasincreased exceptionally in the post-COVID world. By implementing and evaluating real-time hand interaction technology for kinesthetic learning and machine learning agents for self-guided learning, this research has addressed these underutilized technologies to demonstrate the efficiency of immersive learning. This thesis has explored different hand-tracking APIs and devices to integrate real-time hand interaction techniques. These hand interaction techniques and integrated machine learning agents using reinforcement learning are evaluated with different display devices to test compatibility. The proposed approach aims to provide self-guided, more productive, and interactive learning experiences. Further, this research has investigated ethics, privacy, and security issues in XR and covered the future of immersive learning in the Metaverse.<br/

Robotics 2010

Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development

Sensorimotor learning under switching dynamics

Humans have a remarkable capacity to learn new motor behaviours without forgetting old ones. This capacity relies on the ability to acquire and express multiple motor memories without interference. Here we combine behavioural experiments and computational modelling to investigate how the sensorimotor system uses contextual information to create, update and recall motor memories. We first examine the role of muscle co-contraction in the learning of novel movement dynamics. We show that muscle co-contraction, as measured by surface electromyography, accelerates motor learning. We then explore the role of control points on objects in the formation of motor memories during object manipulation. We show that opposing dynamic perturbations, which interfere when controlling a single location on an object, can be learned when each is associated with a separate control point. To account for these results, we develop a parametric switching state-space model, in which the association between cues (control points) and contexts (dynamics) is learned from experience rather than fixed. We then extend this model to a Bayesian nonparametric switching state-space model, in which the number of contexts and cues are learned online rather than specified in advance. This model can instantiate new memories when novel perturbations are experienced and exhibits spontaneous recovery of a memory that has been ostensibly overwritten. To test the model, we perform an experiment in which we briefly present a previously experienced perturbation after behaviour has returned to baseline. As predicted, we observe a qualitatively distinct and more pronounced form of recovery, which we refer to as evoked recovery. Finally, we investigate Bayesian context estimation using single-trial learning. We show that people are able to learn novel associations between cues and contexts and that they use both contextual cues and state feedback to infer the current context and partition learning between memories. Taken together, these findings further the understanding of the behaviour and computational principles of sensorimotor learning under switching dynamics.Engineering and Physical Sciences Research Counci

Trusted Artificial Intelligence in Manufacturing; Trusted Artificial Intelligence in Manufacturing

The successful deployment of AI solutions in manufacturing environments hinges on their security, safety and reliability which becomes more challenging in settings where multiple AI systems (e.g., industrial robots, robotic cells, Deep Neural Networks (DNNs)) interact as atomic systems and with humans. To guarantee the safe and reliable operation of AI systems in the shopfloor, there is a need to address many challenges in the scope of complex, heterogeneous, dynamic and unpredictable environments. Specifically, data reliability, human machine interaction, security, transparency and explainability challenges need to be addressed at the same time. Recent advances in AI research (e.g., in deep neural networks security and explainable AI (XAI) systems), coupled with novel research outcomes in the formal specification and verification of AI systems provide a sound basis for safe and reliable AI deployments in production lines. Moreover, the legal and regulatory dimension of safe and reliable AI solutions in production lines must be considered as well. To address some of the above listed challenges, fifteen European Organizations collaborate in the scope of the STAR project, a research initiative funded by the European Commission in the scope of its H2020 program (Grant Agreement Number: 956573). STAR researches, develops, and validates novel technologies that enable AI systems to acquire knowledge in order to take timely and safe decisions in dynamic and unpredictable environments. Moreover, the project researches and delivers approaches that enable AI systems to confront sophisticated adversaries and to remain robust against security attacks. This book is co-authored by the STAR consortium members and provides a review of technologies, techniques and systems for trusted, ethical, and secure AI in manufacturing. The different chapters of the book cover systems and technologies for industrial data reliability, responsible and transparent artificial intelligence systems, human centered manufacturing systems such as human-centred digital twins, cyber-defence in AI systems, simulated reality systems, human robot collaboration systems, as well as automated mobile robots for manufacturing environments. A variety of cutting-edge AI technologies are employed by these systems including deep neural networks, reinforcement learning systems, and explainable artificial intelligence systems. Furthermore, relevant standards and applicable regulations are discussed. Beyond reviewing state of the art standards and technologies, the book illustrates how the STAR research goes beyond the state of the art, towards enabling and showcasing human-centred technologies in production lines. Emphasis is put on dynamic human in the loop scenarios, where ethical, transparent, and trusted AI systems co-exist with human workers. The book is made available as an open access publication, which could make it broadly and freely available to the AI and smart manufacturing communities