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Dynamic Coupling In Motor-Sensory Function Substitution

English title Dynamic Coupling In Motor-Sensory Function Substitution
Applicant Pfeifer Rolf
Number 132702
Funding scheme Interdisciplinary projects
Research institution Institut für Informatik Universität Zürich
Institution of higher education University of Zurich - ZH
Main discipline Electrical Engineering
Start/End 01.10.2010 - 31.10.2012
Approved amount 138'225.00
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All Disciplines (3)

Discipline
Electrical Engineering
Rehabilitation
Biomedical Engineering

Keywords (8)

Robot; Morphological Computation; Rehabilitation; CBCT; risk assessment; automatic segmentation; statistical shape model; injury of inferior alveolar nerve

Lay Summary (English)

Lead
Lay summary
This project is a collaborative approach of the Computer Science Department And the Department for Oral Surgery, Oral Radiology and Oral Medicine at the University Basel .Surgical extraction of wisdom teeth is the most commonly performed procedure in oral surgery. Depending on the anatomical position and the distance of the roots to the mandibular canal, this procedure implies the risk of injury of the inferior alveolar nerve. In the worst case this leads to a permanent loss of sensation of the lower lip. With Cone Beam Computed Tomography (CBCT), a new imaging technology is available, which gives a detailed representation of the patient's anatomy with minimal radiation dose. The resulting three-dimensional images open new possibilities for risk assessment and planning of these surgeries. The goal of this project is to develop a method for automatic segmentation of the wisdom tooth and the mandibular canal from the CBCT images. For being able to perform an automatic risk analysis, we plan to perform segmentation of the mandibular canal and the wisdom tooth. Besides allowing for a risk assessment, having a segmentation of these tissues is of independent interest for the clinical application. It becomes possible to generate a three-dimensional model of the detailed patient's anatomy, which can support surgery planning and serve as a visual aid for patient education. In parallel, the indicators for an injury of the inferior alveolar nerve given in these images are studied by experienced oral surgeons. The pre-operative risk assessment of the surgeons will be compared with the actual outcome of the surgery. Based on the experience gained in this study a software for automatic risk assessment from the images will be developed and evaluated on the collected data. The concluding objective of this collaborative study is to compare an automatic risk assessment (software) with the risk assessment of experienced oral surgeons. The goal is to evaluate the outcome of CBCT-images for the patient.
Direct link to Lay Summary Last update: 21.02.2013

Responsible applicant and co-applicants

Employees

Publications

Publication
Slip Speed Feedback for Grip Force Control
Dana D. Damian, Alejandro Hernandez Arieta, Harold Roberto Martinez Salazar, Rolf Pfeifer (2012), Slip Speed Feedback for Grip Force Control, in IEEE Transactions on Biomedical Engineering, 2200-2210.
Study on lower back electrotactile characteristics for prosthetic sensory feedback
Seps Monika, Dermitzakis Konstantinos, Hernandez Arieta Alejandro (2011), Study on lower back electrotactile characteristics for prosthetic sensory feedback, in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), San Francisco, USA.
Apparent moving sensation recognition in prosthetic applications
Hernandez Arieta Alejandro, Afthinos Maresa, Dermitzakis Konstantinos (2011), Apparent moving sensation recognition in prosthetic applications, in Proceedings of the 2nd European Future Technologies Conference and Exhibition 2011 (FET 11), The European Future Technologies Conference and Exhibition (FET '11), Budapest, Hungary.
Scaling Laws in Robotics
Dermitzakis Konstantinos, Carbajal Juan Pablo, Marden James H (2011), Scaling Laws in Robotics, in Proceedings of the 2nd European Future Technologies Conference and Exhibition 2011 (FET 11), The European Future Technologies Conference and Exhibition (FET '11), Budapest, Hungary.
Gesture recognition in upper-limb prosthetics: A viability study using Dynamic Time Warping and gyroscopes
Dermitzakis Konstantinos, Hernandez Arieta Alejandro, Pfeifer Rolf (2011), Gesture recognition in upper-limb prosthetics: A viability study using Dynamic Time Warping and gyroscopes, in Conf Proc IEEE Eng Med Biol Soc, International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '11), Boston, Massachusetts.
Force Feedback via Shaped Contacts
Ludersdorfer Marvin, Damian Dana D., Hernandez Arieta Alejandro, Pfeifer Rolf, Okamura Allison (2011), Force Feedback via Shaped Contacts, in International Conference on Morphological Computation (ICMC), International Conference on Morphological Computation (ICMC), Venice, Italy.
Gesture recognition for controlling dexterous upper-limb prostheses
Dermitzakis Konstantinos (2011), Gesture recognition for controlling dexterous upper-limb prostheses, in International Neurorehabilitation Symposium (INRS '11), International Neurorehabilitation Symposium (INRS '11), Zurich, Switzerland.

Scientific events

Active participation

Title Type of contribution Title of article or contribution Date Place Persons involved
From programming numbers to programming bodies 01.12.2012 Lucian Blaga National College, Sebes, Romania
Soft robotics - the next generation of intelligent machines 01.11.2012 Artificial Life and Arts conference, Madrid
Morphological computation - self-organization, embodiment, and biological inspiration 01.10.2012 Keynote lecture at International Joint Conference on Computational Intelligence
Soft robotics at Carnegie Mellon University 01.09.2012 • Soft robotics at Carnegie Mellon University
Can robots think - artificial intelligence between science and fiction 01.09.2012 Belgrade Robotics Festival, "Guest of honor" lecture
Soft robotics - self-organization and embodiment in the emergence of cognition 01.08.2012 EU-Cog III keynote lecture
Soft robotics - state of the art and challenges 01.08.2012 Invited keynote lecture: Cognitive Science Conference, CGSCI 2012, Sapporo, Hokkaido, Japan
Robot emotions, with reference to Masano Toda's "Fungus Eaters" 01.08.2012 Invited keynote lecture: Cognitive Science Conference, CGSCI 2012, Sapporo, Hokkaido, Japan
Embodied intelligence and biologically inspired robotics 01.08.2012 Invited keynote lecture: International Conference on Human Ethology, Vienna
Morphology, morpholosis, and materials - research opportunities 01.08.2012 Locomorph Summer School, Odense, Denmark
"Soft Robotics" --Self-organization, embodiment, and biological inspiration in designing adaptive behavior 01.08.2012 Invited keynote lectures, SAB 2012 (Conference on Simulation of Adaptive Behavior)
Morphological computation 01.08.2012 Ikegami summer school, Hokkaido, Japan
Wearable Haptic Device for Cutaneous Force and Slip Feedback 01.05.2012 IEEE International Conference on Robotics and Automation (ICRA)
The science and robotics of Rodney Brooks - it's import for engineering, cognitive science, and artificial intelligence 01.03.2012 MIT, Cambridge, Mass.
The future of AI (in German: Die Zukunft the Künstlichen Intelligenz) 01.03.2012 Brain Fair, Zurich
Comment le corps façonne la manière de raisonner (in French; "How the body shapes the way we think") 01.03.2012 Collège de France, Paris
Soft robotics - challenges and opportunities 01.02.2012 5th International Schunk Expert Days, Hausen, Germany
Research opportunities for soft robotics - the four messages of embodiment. 01.01.2012 ETIS UMR-CNRS, Université de Cergy-Pontoise
On the explanatory power of embodiment 01.10.2011 Conference on Philosophy and Theory of Artificial Intelligence, Thessaloniki, Greece
Study on lower back electrotactile characteristics for prosthetic sensory feedback 28.09.2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), San Francisco, USA
Gesture recognition in upper-limb prosthetics: A viability study using Dynamic Time Warping and gyroscopes 02.09.2011 International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, USA
Morphological computation - introduction and basic concepts 01.09.2011 2nd International Conference on Morphological Computation, ECLT, Venice
On the role of embodiment in the emergence of cognition 01.09.2011 San Sebastian, Spain
Research opportunities for soft robotics 01.06.2011 Int. Conference on Advanced Robotics, Tallinn, Estonia
Embodied cognition in psychoanalysis (together with M. Leuzinger-Beohleber) 01.06.2011 Int. Conf. on Neuropsychoanalysis, Berlin, Germany
Gesture recognition for controlling dexterous upper-limb prostheses 01.06.2011 International Neurorehabilitation Symposium (INRS '11), Zurich, Switzerland
Embodied intelligence 01.06.2011 Int. Conference on Advanced Robotics, Tallinn, Estonia
Implications of embodiment for cognitive systems 01.04.2011 EU-Cog II Conference on philosophical issues in embodiment. Anatolia College, Thessaloniki, Greece
The four messages of embodiment 01.03.2011 Embodiment-Tagung, University of Zurich, Switzerland
Soft robotics 01.01.2011 Techfest IIT Bombay, India
How the body shapes the way we think - a new view of intelligence 01.11.2010 ATMA Hall (Le Corbusier), Ahmedabad, India
Wie der Körper unser Denken bestimmt - neue Ansätze in der Robotik 01.10.2010 Invited lecture at AUTOMED, Zurich, Switzerland
Soft robotics: Self-organization, embodiment, and biologically inspired robotics. 01.10.2010 Invited plenary lecture. IROS 2010 Conference, Taipei, Taiwan
Embodiment, morphological computation, and robot body schemas 01.09.2010 Monte Verita workshop on body representation, Monte Verita, Ascona, Switzerland
How embodiment changes our view of the mind (Robotics, embodied intelligence, and philosophy) 01.09.2010 European Conference on Computing and Philosophy. Munich, Germany
The four messages of embodiment 01.09.2010 Invited lecture at the Octopus 2010 Summer School, Livorno, Italy


Self-organised

Title Date Place
Research opportunities in soft robotics 01.11.2011 Xi'an, China
Bio-inspired design for an upper-limb robotic prosthesis 23.09.2011 Collaborative Haptics and Robotics in Medicine Lab (CHARM Lab), Stanford University, CA, USA
Exploiting morphological properties for a robotic prosthetic hand 19.09.2011 Northwestern University, Prosthetics-Orthotics Center, Chicago, IL, USA
Research opportunities for soft robotics 01.07.2011 Kuniyoshi Laboratory, The University of Tokyo, Japan
"Soft robotics", self-organization, embodiment, and biological inspiration 01.07.2011 ATR, Kyoto, Japan
"Soft robotics" - Self-organization, embodiment, and biological inspiration 01.06.2011 Johannes Kepler University, Linz, Austria
Tutorial: A primer on embodied cognition 01.05.2011 ICRA 2011, Shanghai, China
"Soft robotics": self-organization, embodiment, and biological inspiration 01.02.2011 Monterey Institute of Technology, Queretaro, Mexico
Morphology for tactile sensing and display systems in prosthetic applications 06.01.2011 Haptics Lab, Johns Hopkins University, Baltimore, USA
How the body shapes the way we think - the four messages of embodiment 01.01.2011 Indian Institute of Design, Ahmedabad, India
"Soft robotics": self-organization, embodiment, and biological inspiration 01.11.2010 Indian Institute of Science, IISC, Bangalore, India
On the role of morphology and materials in intelligent behavior - the four messages of embodiment 01.11.2010 Bernstein Center for Computational Neuroscience, Munich, Germany
"Soft robotics": self-organization, embodiment, and biological inspiration 01.11.2010 International Institute of Information Technology, IIIT, Bangalore, India
"Soft robotics": self-organization, embodiment, and biological inspiration 01.11.2010 Mechanical Engineering Dept. Indian Institute of Technology, IIT, Bombay, India

Knowledge transfer events



Self-organised

Title Date Place
How the body shapes the way we think 01.05.2011 HP Executive Circle, Grand Hotel Dolder, Zurich, Switzerland

Communication with the public

Communication Title Media Place Year
Media relations: radio, television 10vor10: AI-Lab robots in everyday life Schweizer Fernsehen, Swiss news German-speaking Switzerland 15.09.2011
Media relations: print media, online media Das kluge Knie NZZ Folio German-speaking Switzerland 01.08.2011
Media relations: print media, online media Mensch-Maschine, Der erste Cyborg Beobachter German-speaking Switzerland 07.01.2011
Media relations: print media, online media Wie der Körper das Denken prägt Bild der wissenschaft German-speaking Switzerland 01.04.2011
Talks/events/exhibitions Lab tours at the AI Lab German-speaking Switzerland 01.10.2010
Media relations: print media, online media Vorbild Natur, Wie die Wissenschaft auf neue Ideen kommt Universität Zürich Magazin German-speaking Switzerland 01.09.2010

Associated projects

Number Title Start Funding scheme
116717 Dynamical Coupling in Motor-Sensory Function Substitution 01.10.2007 Interdisciplinary projects

Abstract

In this project, we will explore shared control strategies and intention prediction algorithms, which,along with a prosthetic device, will have the capability to measure the device’s adaptation to the user and vice-versa.Endowed with such knowledge, the smart prosthetic device would optimally assist and maintain the engagement of theuser in the interaction. Adjacent to this, optimal sensory stimuli for enriched feedback and without overloading thecapacity of the person will be a topic of our interest. In parallel, we will investigate various morphologies to improvethe performance of the prosthetic hand. As a result, a robust and energy efficient mechanism for real world situationscan be produced. The design exploration methodology will be applied as well to the construction of an artificial skinthat enriches the sensory feedback with little cost on the system complexity. We will integrate all results into onemodular system, which will be installed in a compliant humanoid robot to investigate human-robot interaction in realworld tasks. We aim to find an interaction model that provides a more adaptive functionality in artificial limbsapplications.
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