Improved 3D Human Motion Capture Using Kinect Skeleton and Depth Sensor

Kinect has been utilized as a cost-effective, easy-touse motion capture sensor using the Kinect skeleton algorithm. However, a limited number of landmarks and inaccuracies in tracking the landmarks' positions restrict Kinect's capability. In order to increase the accuracy of motion capturing using Kinect, joint use of the Kinect skeleton algorithm and Kinect-based marker tracking was applied to track the 3D coordinates of multiple landmarks on human. The motion's kinematic parameters were calculated using the landmarks' positions by applying the joint constraints and inverse kinematics techniques. The accuracy of the proposed method and OptiTrack (NaturalPoint, Inc., USA) was evaluated in capturing the joint angles of a humanoid (as ground truth) in a walking test. In order to evaluate the accuracy of the proposed method in capturing the kinematic parameters of a human, lower body joint angles of five healthy subjects were extracted using a Kinect, and the results were compared to Perception Neuron (Noitom Ltd., China) and OptiTrack data during ten gait trials. The absolute agreement and consistency between each optical system and the robot data in the robot test and between each motion capture system and OptiTrack data in the human gait test were determined using intraclass correlations coefficients (ICC3). The reproducibility between systems was evaluated using Lin's concordance correlation coefficient (CCC). The correlation coefficients with 95% confidence intervals (95%CI) were interpreted substantial for both OptiTrack and proposed method (ICC > 0.75 and CCC > 0.95) in humanoid test. The results of the human gait experiments demonstrated the advantage of the proposed method (ICC > 0.75 and RMSE = 1.1460 degrees) over the Kinect skeleton model (ICC < 0.4 and RMSE = 6.5843 degrees)

Protection of front-line nurses from life-threatening infection by suctioning robots : a systematic review

29th International Council of Nurses Congress from 1-5 July 2023 in Montreal, Canad

Relationship Between Tracheal Suctioning Catheter Motion and Secretion Amount Based on Viscosity

Background: To provide safe tracheal suctioning, the American Association of Respiratory Care guideline discusses the length of suctioning catheter, but the most effective tracheal suctioning catheter technique is still unknown. Objective: The aim of this study is to compare the amount of simulated secretion produced by five different handlings of a catheter at two different viscosities and in two different models to discover the most effective suctioning maneuver in the various mucus conditions. Design: In vitro experimental design. Methods: The amount of secretion aspirated by our researcher's manipulation of a suctioning catheter was measured. The tip of the catheter was recorded using a high-speed video camera to visualize the secretion motion. Results: The most effective suctioning technique differed depending on the viscosity of the secretion. There were no significant differences between five suctioning methods applied to high-viscosity phlegm in a tracheal membrane model, but the flexion technique was the most efficient for low-viscosity secretion. Conclusions: Our results imply that the flexion technique was reasonably safe and the most effective of these five methods for low-viscosity secretion

A Human-Like Approach Towards Humanoid Robot Footstep Planning

Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit this ability and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a novel approach to footstep planning in obstacle cluttered environments that employs a human&#8208;like strategy to terrain traversal. Design methodology for obstacle stepping over motion designed for use with this algorithm is also presented. The paper puts forth simulation results of footstep planning as well as experimental results for the stepping over trajectory designed for use with hardware execution of the footstep plan

Effective Catheter Manoeuvre for the Removal of Phlegm by Suctioning : A Biomechanical Analysis of Experts and Novices

Purpose The aim of this study was to determine the effective biomechanical technique for suctioning phlegm. Methods A novel tracheal suctioning simulator combined with a motion capture system was used to calculate the amount of simulated phlegm suctioned and the biomechanical parameters of the associated suctioning manoeuvre. A laboratory study, including 12 nurses with > 3 years of suctioning experience and 12 nursing students without any clinical suctioning experience, was conducted. The amount of phlegm suctioned, the maximum length of catheter insertion, and the biomechanical parameters of hand movement were calculated. Results The mean amount of phlegm suctioned per second was significantly larger in the experienced group than in the non-experienced group. The amount of phlegm suctioned correlated positively with the length of the vertical path of motion of the wrist and forearm, and with the angular velocity of thumb rotation in both the groups. Conclusion Greater vertical motion of the wrist and thumb rotation improved the effectiveness of phlegm suctioning and prevented the need for deep suctioning, which is unsafe

A Human-Like Approach Towards Humanoid Robot Footstep Planning

Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit this ability and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Design methodology for obstacle stepping over motion designed for use with this algorithm is also presented. The paper puts forth simulation results of footstep planning as well as experimental results for the stepping over trajectory designed for use with hardware execution of the footstep plan