Güven, Y. | Barkana, D.E.

Conference Object | 2011 | Lecture Notes in Electrical Engineering103 LNEE , pp.41 - 52

Computer-assisted robotic systems have shown that robots can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. An orthopedic robotic system called OrthoRoby and a control architecture that will be used in bone cutting operations are developed. Real-time experiments are performed to evaluate the OrthoRoby robotic system on bone cadaver. © 2011 Springer Science+Business Media, LLC.

Ozkul, F. | Barkana, D.E. | Demirbas, S.B. | Inal, S.

Conference Object | 2011 | IEEE International Conference on Rehabilitation Robotics , pp.41 - 52

In recent years, robot-assisted rehabilitation systems have been an active research area that can quantitatively monitor and adapt to patient progress, and ensure consistency during rehabilitation. In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed. A control architecture, which contains a high level controller and a low level controller, is designed for RehabRoby. Proprioceptive sense of healthy subjects has been evaluated during the execution of a task with RehabRoby. Additionally, usability of RehabRoby has been evaluated using a questionnaire. © 2011 IEEE.

Palaska, Y. | Erdogan, H. | Ekenel, H.K. | Masazade, E. | Barkana, D.E.

Conference Object | 2017 | Canadian Conference on Electrical and Computer Engineering , pp.41 - 52

Investigation into robot-assisted rehabilitation systems, and robot-assisted systems that are capable of detecting patient's emotions and then modifying the rehabilitation task to better suit the patients' abilities by taking account their emotions have gained momentum in recent years. In this paper, our aim is to distinguish whether the subject is under-challenged or over-challenged using psychophysiological signal data collected from biofeedback sensors while executing the tasks with RehabRoby. Initially, features are extracted from the physiological signals (Blood Volume Pulse (BVP), Skin Conductance (SC), and Skin Temperature (S . . .T)). The extracted features are examined in terms of their contribution to the classification of the overstressed/over-challenged, boredom/under-challenged using variance analysis (ANOVA). The most significant features are selected, and various classification methods are used to classify overstressed/over-challenged, boredom/under-challenged. © 2017 IEEE Daha fazlası Daha az

Ozkul, F. | Barkana, D.E.

Conference Object | 2011 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)6856 LNAI , pp.125 - 136

In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed for RehabRoby to complete the rehabilitation task in a desired and safe manner. A hybrid system modeling technique is used for high-level controller. An admittance control with inner robust position control loop has been used for the low-level control of RehabRoby. Real-time experiments are performed to evaluate the control architecture of the robot-assisted rehabilitation system RehabRoby. © 2011 Spring . . .er-Verlag Berlin Heidelberg Daha fazlası Daha az

Cetin, A.E. | Adli, M.A. | Barkana, D.E. | Kucuk, H.

Conference Object | 2009 | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM , pp.636 - 643

Vehicle directional control and driver interaction assemblies have been built to study and implement impedance control strategies on a steer-by-wire system. Adaptive on-line estimation is used to identify the dynamic parameters of vehicle directional control and driver interaction assemblies. A nonlinear 4 DOF vehicle model, including longitudinal, lateral, yaw and quasi-static roll motions is derived using Newtonian mechanics to simulate and test the impedance control strategies developed. Impedance control strategy is used to control the dynamic characteristics of the steering system for improving the steering-feel and vehicle sta . . .bility. ©2009 IEEE Daha fazlası Daha az

Ertas, I.H. | Hocaoglu, E. | Barkana, D.E. | Patoglu, V.

Conference Object | 2009 | 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 , pp.194 - 201

A finger exoskeleton has been developed to aid treatment of tendon injuries. The exoskeleton is designed to assist flexion/extension motions of a finger within its full range, in a natural and coordinated manner, while keeping the tendon tension within acceptable limits to avoid gap formation or rupture of the suture. In addition to offering robot assisted operation modes for tendon therapies, the exoskeleton can provide quantitative measures of recovery that can help guide the physical therapy program. Usability studies have been conducted and efficacy of exoskeleton driven exercises to reduce muscle requitement levels has been dem . . .onstrated. ©2009 IEEE Daha fazlası Daha az

Guven, Y. | Barkana, D.E.

Conference Object | 2010 | 3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings , pp.325 - 330

Recent research in orthopedic surgeries indicates that computer-assisted robotic systems have shown that robots can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. An orthopedic robotic system called OrthoRoby and an intelligent control architecture that will be used in bone cutting operations are developed. A medical user interface (MUI) is developed and integrated into the OrthoRoby system. MUI is used by the surgeons to import images of the patients' bone as inputs and outputs a bone cutting trajectory. A series of experimental tests were conducted to evaluate the performance of . . . the MUI. © 2010 IEEE Daha fazlası Daha az

Yantac, A.E. | Cay, D. | Akgun, G. | Barkana, D.E.

Conference Object | 2014 | Proceedings of the International Conferences on Interfaces and Human Computer Interaction 2014, Game and Entertainment Technologies 2014 and Computer Graphics, Visualization, Computer Vision and Image Processing 2014 - Part of the Multi Conference on Computer Science and Information Systems, MCCSIS 2014 , pp.20 - 26

In this paper, we share insights from our user research studies for the development of the graphical user interface (GUI) design of a surgical operation robot. We had previously been developing the surgical interface (SI) for kidney tumor cryoablation by collecting eye-tracking data for fixation durations and number of fixations at informative regions from the users (Erol Barkana & Acik, 2014). Based on the analyzed data, we then explored the GUI for layout, color use and warning message communication by i) literature review, ii) evaluation using Nielsen's heuristics (Nielsen, 1994), and iii) re-design studies with design workshops. . . . Relying on all the user feedback, we re-designed the GUI and conducted GUI design feedback survey. Here, we share our insights throughout this user research and GUI re-design process. Copyright © 2014 IADIS Press All rights reserved Daha fazlası Daha az

Wang, F. | Barkana, D.E. | Sarkar, N.

Conference Object | 2009 | 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 , pp.463 - 468

This paper presents an approach to enhance an assistive controller, which has been designed for robotic rehabilitation of the upper extremity after stroke, with an error augmentation training method. The assistive controller provides robotic assistance to the participant as and when needed, while position errors that are visually fed back to the participant are amplified to heighten the participant's motivation to improve tracking accuracy. Experimental results on unimpaired participants are presented to demonstrate the efficacy of the enhanced assistive controller. ©2009 IEEE.

Aypar, Y.C. | Palaska, Y. | Gokay, R. | Masazade, E. | Barkana, D.E. | Sarkar, N.

Conference Object | 2014 | ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics1 , pp.34 - 41

In this paper, we study an unsupervised learning problem where the aim is to cluster the emotional state (excitedness, boredom, or stress) using the biofeedback sensor data while subjects perform tasks under different difficulty levels on the robot assisted rehabilitation system-RehabRoby. The dimension of the training vectors has been reduced by using the Principal Component Analysis (PCA) algorithm after collecting the biofeedback sensor measurements from different subjects under different task difficulty levels to better visualize the sensor data. The reduced dimension vectors are fed into a K-means clustering algorithm. Numerica . . .l results have been given to demonstrate that for each training vector, the emotional state decided by the clustering algorithm is consistent with the subjects declaration of his/her emotional state obtained via surveys after performing the task Daha fazlası Daha az

Barkana, D.E.

Conference Object | 2009 | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 , pp.1947 - 1952

Recent research in orthopedic surgeries indicates that computer-assisted robotic systems can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. Kinematic and dynamic analysis of an orthopedic robot called OrthoRoby, which will be used in bone cutting operations, are derived. Computed-torque and disturbance based observer low-level control methods have been evaluated for OrthoRoby to track a desired bone cutting trajectory. Low-level controllers are evaluated and the results are presented to demonstrate the feasibility of the controllers. © 2009 IEEE.

Barkana, D.E. | Wang, F. | Das, J. | Sarkar, N. | Groomes, T.E.

Conference Object | 2008 | Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 , pp.930 - 935

This paper presents an intelligent control architecture for robot-assisted rehabilitation after stroke that has the potential to minimize the workload of the therapist and incorporate patient feedback into autonomous modification of the task presentation during therapy. In particular, the presented intelligent controller will be able to administer a therapy task, monitor safety issues, provide assessment of the progress, and incorporate patient's feedback in order to make the necessary modifications of the task to impart effective therapy in an automated manner. Hybrid system modeling technique is used to design the intelligent cont . . .rol architecture. Experimental results with an unimpaired subject are presented to demonstrate the efficacy of the proposed control architecture. © 2008 IEEE Daha fazlası Daha az