In this work, we extend the previously proposed approach of improving mutual perception during human-robot collaboration by communicating the robot's motion intentions and status to a human worker using hand-worn haptic feedback devices. The improvement is presented by introducing spatial tactile feedback, which provides the human worker with more intuitive information about the currently planned robot's trajectory, given its spatial configuration. The enhanced feedback devices communicate directional information through activation of six tactors spatially organised to represent an orthogonal coordinate frame: the vibration activates on the side of the feedback device that is closest to the future path of the robot. To test the effectiveness of the improved human-machine interface, two user studies were prepared and conducted. The first study aimed to quantitatively evaluate the ease of differentiating activation of individual tactors of the notification devices. The second user study aimed to assess the overall usability of the enhanced notification mode for improving human awareness about the planned trajectory of a robot. The results of the first experiment allowed to identify the tactors for which vibration intensity was most often confused by users. The results of the second experiment showed that the enhanced notification system allowed the participants to complete the task faster and, in general, improved user awareness of the robot's movement plan, according to both objective and subjective data. Moreover, the majority of participants (82%) favoured the improved notification system over its previous non-directional version and vision-based inspection.

• MeSH
• hmat MeSH
• lidé MeSH
• robotika * MeSH
• ruka MeSH
• uživatelské rozhraní počítače MeSH
• zpětná vazba MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH

The loss of a hand can significantly affect one's work and social life. For many patients, an artificial limb can improve their mobility and ability to manage everyday activities, as well as provide the means to remain independent. This paper provides an extensive review of available biosensing methods to implement the control system for transradial prostheses based on the measured activity in remnant muscles. Covered techniques include electromyography, magnetomyography, electrical impedance tomography, capacitance sensing, near-infrared spectroscopy, sonomyography, optical myography, force myography, phonomyography, myokinetic control, and modern approaches to cineplasty. The paper also covers combinations of these approaches, which, in many cases, achieve better accuracy while mitigating the weaknesses of individual methods. The work is focused on the practical applicability of the approaches, and analyses present challenges associated with each technique along with their relationship with proprioceptive feedback, which is an important factor for intuitive control over the prosthetic device, especially for high dexterity prosthetic hands.

• MeSH
• elektromyografie * MeSH
• lidé MeSH
• propriocepce MeSH
• protézy - design MeSH
• ruka MeSH
• senzorická zpětná vazba * MeSH
• svaly MeSH
• umělé končetiny * MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH
• přehledy MeSH

In this analysis, we present results from measurements performed to determine the stability of a hand tracking system and the accuracy of the detected palm and finger's position. Measurements were performed for the evaluation of the sensor for an application in an industrial robot-assisted assembly scenario. Human-robot interaction is a relevant topic in collaborative robotics. Intuitive and straightforward control tools for robot navigation and program flow control are essential for effective utilisation in production scenarios without unnecessary slowdowns caused by the operator. For the hand tracking and gesture-based control, it is necessary to know the sensor's accuracy. For gesture recognition with a moving target, the sensor must provide stable tracking results. This paper evaluates the sensor's real-world performance by measuring the localisation deviations of the hand being tracked as it moves in the workspace.

• MeSH
• biosenzitivní techniky MeSH
• gesta MeSH
• lidé MeSH
• pohyb těles MeSH
• předpověď MeSH
• robotika * MeSH
• ruka * MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• dopisy MeSH

This paper deals with transformations from electrocardiographic (ECG) to vectorcardiographic (VCG) leads. VCG provides better sensitivity, for example for the detection of myocardial infarction, ischemia, and hypertrophy. However, in clinical practice, measurement of VCG is not usually used because it requires additional electrodes placed on the patient's body. Instead, mathematical transformations are used for deriving VCG from 12-leads ECG. In this work, Kors quasi-orthogonal transformation, inverse Dower transformation, Kors regression transformation, and linear regression-based transformations for deriving P wave (PLSV) and QRS complex (QLSV) are implemented and compared. These transformation methods were not yet compared before, so we have selected them for this paper. Transformation methods were compared for the data from the Physikalisch-Technische Bundesanstalt (PTB) database and their accuracy was evaluated using a mean squared error (MSE) and a correlation coefficient (R) between the derived and directly measured Frank's leads. Based on the statistical analysis, Kors regression transformation was significantly more accurate for the derivation of the X and Y leads than the others. For the Z lead, there were no statistically significant differences in the medians between Kors regression transformation and the PLSV and QLSV methods. This paper thoroughly compared multiple VCG transformation methods to conventional VCG Frank's orthogonal lead system, used in clinical practice.

• MeSH
• databáze faktografické MeSH
• diagnóza počítačová metody   MeSH
• elektrokardiografie metody   MeSH
• lidé MeSH
• lineární modely MeSH
• matematické výpočty počítačové MeSH
• nemoci srdce diagnóza   MeSH
• počítačové zpracování signálu * MeSH
• vektorkardiografie metody   MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH
• srovnávací studie MeSH