Chapter Minimally Invasive Force Sensing for Tendon-driven Robots

Electronics engineerin

Minimally Invasive Force Sensing for Tendon-driven Robots

Electronics engineerin

Manipulation Planning and Control for Shelf Replenishment

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those needed in the in-store logistics domain. Supermarkets contain a large variety of objects to be placed on the shelf layers with specific constraints, doing this with a robot is a challenge and requires a high dexterity. However, an integration of reactive grasping control and motion planning can allow robots to perform such tasks even with grippers with limited dexterity. The main contribution of the paper is a novel method for planning manipulation tasks to be executed using a reactive control layer that provides more control modalities, i.e., slipping avoidance and controlled sliding. Experiments with a new force/tactile sensor equipping the gripper of a mobile manipulator show that the approach allows the robot to successfully perform manipulation tasks unfeasible with a standard fixed grasp.Comment: 8 pages, 12 figures, accepted at RA

Brillouin Optical Time Domain Analysis Sensor for Active Vibration Control of a Cantilever Beam

The paper reports the use of a distributed optical fiber sensor based on stimulated Brillouin scattering, for structural vibration control. A cantilevered flexible aluminum beam was used as test-bed for vibration control. The proposed approach allows acquiring simultaneously the dynamic strain at several locations. The dynamic strain measured at one (or more) fiber location can be used to implement any vibration control algorithm. Experimental results are reported in which a voice coil, positioned near the fixed end of the cantilever beam, was employed as actuator for the reduction of the vibrations related to the first bending mode of the beam

A Distributed Tactile Sensor for Intuitive Human-Robot Interfacing

Safety of human-robot physical interaction is enabled not only by suitable robot control strategies but also by suitable sensing technologies. For example, if distributed tactile sensors were available on the robot, they could be used not only to detect unintentional collisions, but also as human-machine interface by enabling a new mode of social interaction with the machine. Starting from their previous works, the authors developed a conformable distributed tactile sensor that can be easily conformed to the different parts of the robot body. Its ability to estimate contact force components and to provide a tactile map with an accurate spatial resolution enables the robot to handle both unintentional collisions in safe human-robot collaboration tasks and intentional touches where the sensor is used as human-machine interface. In this paper, the authors present the characterization of the proposed tactile sensor and they show how it can be also exploited to recognize haptic tactile gestures, by tailoring recognition algorithms, well known in the image processing field, to the case of tactile images. In particular, a set of haptic gestures has been defined to test three recognition algorithms on a group of 20 users. The paper demonstrates how the same sensor originally designed to manage unintentional collisions can be successfully used also as human-machine interface

Prostate volume index and prostatic chronic inflammation have an effect on tumor load at baseline random biopsies in patients with normal DRE and PSA values less than 10\u2009ng/ml: results of 564 consecutive cases

Background: To assess the association of prostate volume index (PVI), defined as the ratio of the central transition zone volume (CTZV) to the peripheral zone volume (PZV), and prostatic chronic inflammation (PCI) as predictors of prostate cancer (PCA) load in patients presenting with normal digital rectal exam (DRE) and prostate-specific antigen (PSA) <= 10 ng/ml at baseline random biopsies. Methods: Parameters evaluated included age, PSA, total prostate volume (TPV), PSA density (PSAD), PVI and PCI. All patients underwent 14 core transperineal randomized biopsies. We considered small and high PCA load patients with no more than three (limited tumor load) and greater than three (extensive tumor load) positive biopsy cores, respectively. The association of factors with the risk of PCA was evaluated by logistic regression analysis, utilizing different multivariate models. Results: 564 Caucasian patients were included. PCA and PCI were detected in 242 (42.9%) and 129 (22.9%) cases, respectively. On multivariate analysis, PVI and PCI were independent predictors of the risk of detecting limited or extensive tumor load. The risk of detecting extensive tumor load at baseline biopsies was increased by PSAD above the median and third quartile as well as PVI <= 1 [odds ratio (OR)=1.971] but decreased by PCI (OR=0.185; 95% CI: 0.088-0.388). Conclusions: Higher PVI and the presence of PCI predicted decreased PCA risk in patients presenting with normal DRE, and a PSA <= 10 ng/ml at baseline random biopsy. In this subset of patients, a PVI <= or >1 is able to differentiate patients with PCA or PCI

High surgeon volume and positive surgical margins can predict the risk of biochemical recurrence after robot-assisted radical prostatectomy

Background: The aim of this study was to determine whether any clinical factors are independent predictors of positive surgical margins (PSM), and to assess the association of PSM and biochemical recurrence (BR) after robot-assisted radical prostatectomy (RARP). Methods: The population included cases with negative surgical margins (control group) and patients with PSM (study group). Tumor grade was evaluated according to the International Society of Urologic Pathology (ISUP) system. A logistic regression model assessed the independent association of factors with the risk of PSM. The risk of BR was assessed by Cox\u2019s multivariate proportional hazards. Results: A total of 732 consecutive patients were evaluated. Extend pelvic lymph node dissection (ePLND) was performed in 342 cases (46.7%). Overall, 192 cases (26.3%) had PSM. The risk of PSM was positively associated with the percentage of biopsy positive cores (BPC; odds ratio, OR = 1.012; p = 0.004), extracapsular extension (pT3a; OR=2.702; p < 0.0001), invasion of seminal vesicle (pT3b; OR = 2.889; p < 0.0001), but inversely with body mass index (OR = 0.936; p = 0.021), and high surgeon volume (OR = 0.607; p = 0.006). Independent clinical factors associated with the risk of BR were baseline prostate-specific antigen (PSA; hazard ratio, HR = 1.064; p = 0.004), BPC (HR = 1.015; p = 0.027), ISUP biopsy grade group (BGG) 2/3 (HR = 2.966; p = 0.003), and BGG 4/5 (HR = 3.122; p = 0.022). Pathologic factors associated with the risk of BR were ISUP group 4/5 (HR = 3.257; p = 0.001), pT3b (HR = 2.900; p = 0.003), and PSM (HR = 2.096; p = 0.045). Conclusions: In our cohort, features related to host, tumor, and surgeon volume are associated with the risk of PSM, which is also an independent parameter predicting BR after RARP. The surgical volume of the operating surgeon is an independent factor that decreases the risk of PSM, and, as such, the risk of BR

Hydroxytyrosol prevents metabolic impairment reducing hepatic inflammation and restoring duodenal integrity in a rat model of NAFLD.

The potential mechanisms of action of polyphenols in nonalcoholic fatty liver disease (NAFLD) are overlooked. Here, we evaluate the beneficial therapeutic effects of hydroxytyrosol (HT), the major metabolite of the oleuropein, in a nutritional model of insulin resistance (IR) and NAFLD by high-fat diet. Young male rats were divided into three groups receiving (1) standard diet (STD; 10.5% fat), (2) high-fat diet (HFD; 58.0% fat) and (3) HFD+HT (10 mg/kg/day by gavage). After 5 weeks, the oral glucose tolerance test was performed, and at 6th week, blood sample and tissues (liver and duodenum) were collected for following determinations. The HT-treated rats showed a marked reduction in serum AST, ALT and cholesterol and improved glucose tolerance and insulin sensitivity, reducing homeostasis model assessment index. HT significantly corrected the metabolic impairment induced by HFD, increasing hepatic peroxisome proliferator activated receptor PPAR-α and its downstream-regulated gene fibroblast growth factor 21, the phosphorylation of acetyl-CoA carboxylase and the mRNA carnitine palmitoyltransferase 1a. HT also reduced liver inflammation and nitrosative/oxidative stress decreasing the nitrosylation of proteins, reactive oxygen species production and lipid peroxidation. Moreover, HT restored intestinal barrier integrity and functions (fluorescein isothiocyanate-dextran permeability and mRNA zona occludens ZO-1). Our data demonstrate the beneficial effect of HT in the prevention of early inflammatory events responsible for the onset of IR and steatosis, reducing hepatic inflammation and nitrosative/oxidative stress and restoring glucose homeostasis and intestinal barrier integrity