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15 pages, 13070 KiB

Open AccessArticle

Bio-Inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception

by Xiaobo Liu, Xudong Han, Ning Guo, Fang Wan and Chaoyang Song

Biomimetics 2023, 8(6), 501; https://doi.org/10.3390/biomimetics8060501 - 21 Oct 2023

Cited by 3 | Viewed by 2655

In-hand object pose estimation is challenging for humans and robots due to occlusion caused by the hand and object. This paper proposes a soft finger that integrates inner vision with kinesthetic sensing to estimate object pose inspired by human fingers. The soft finger has a flexible skeleton and skin that adapts to different objects, and the skeleton deformations during interaction provide contact information obtained by the image from the inner camera. The proposed framework is an end-to-end method that uses raw images from soft fingers to estimate in-hand object pose. It consists of an encoder for kinesthetic information processing and an object pose and category estimator. The framework was tested on seven objects, achieving an impressive error of 2.02 mm and 11.34 degrees for pose error and 99.05% for classification. Full article

(This article belongs to the Special Issue Design, Fabrication and Control of Bioinspired Soft Robots)

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16 pages, 8249 KiB

Open AccessArticle

Research on Monocular-Vision-Based Finger-Joint-Angle-Measurement System

by Yongfei Feng, Mingwei Zhong and Fangyan Dong

Sensors 2022, 22(19), 7276; https://doi.org/10.3390/s22197276 - 26 Sep 2022

Cited by 4 | Viewed by 4629

Abstract

The quantitative measurement of finger-joint range of motion plays an important role in assessing the level of hand disability and intervening in the treatment of patients. An industrial monocular-vision-based knuckle-joint-activity-measurement system is proposed with short measurement time and the simultaneous measurement of multiple joints. In terms of hardware, the system can adjust the light-irradiation angle and the light-irradiation intensity of the marker by actively adjusting the height of the light source to enhance the difference between the marker and the background and reduce the difficulty of segmenting the target marker and the background. In terms of algorithms, a combination of multiple-vision algorithms is used to compare the image-threshold segmentation and Hough outer- and inner linear detection as the knuckle-activity-range detection method of the system. To verify the accuracy of the visual-detection method, nine healthy volunteers were recruited for experimental validation, and the experimental results showed that the average angular deviation in the flexion/extension of the knuckle was 0.43° at the minimum and 0.59° at the maximum, and the average angular deviation in the adduction/abduction of the knuckle was 0.30° at the minimum and 0.81° at the maximum, which were all less than 1°. In the multi-angle velocimetry experiment, the time taken by the system was much less than that taken by the conventional method. Full article

(This article belongs to the Special Issue Advanced Intelligent Control in Robots)

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9 pages, 3220 KiB

Open AccessArticle

Urgent Vitrectomy with Vancomycin Infusion, Silicone Oil Endotamponade, and General Antibiotic Treatment in Multiple Cases of Endophthalmitis from a Single Day of Intravitreal Injections—Case Series

by Agata Pietras-Baczewska, Ewa Jasińska, Mario Damiano Toro, Vincenza Bonfiglio, Michele Reibaldi, Teresio Avitabile, Katarzyna Nowomiejska and Robert Rejdak

J. Clin. Med. 2021, 10(5), 1059; https://doi.org/10.3390/jcm10051059 - 4 Mar 2021

Cited by 8 | Viewed by 3378

Abstract

The aim of this study was to report on the anatomical and functional results of surgical management of seven cases of endophthalmitis related to a single day of intravitreal aflibercept injections. Patients with signs of endophthalmitis who underwent aflibercept injections (seven eyes) performed on the same day were retrospectively evaluated. The data of visual acuity and optical coherence tomography (OCT) within nine months of the follow-up and the treatment and results of microbiological cultures are reported. Four of the total seven cases had a positive bacterial culture outcome (Streptococcus mitis). All patients underwent vitrectomy combined with phacoemulsification when the eyes were not pseudophakic, vancomycin infusion, and silicone oil tamponade within 24 h; additionally, systemic antibiotics were administered intravenously. The final best-corrected visual acuity (BCVA) after the treatment was finger counting or light perception in all cases, and all eyes were saved with disruption of the inner retinal layers and stabilization of the retina in regard to changes related to the wet age-related macular degeneration (AMD). Although the retinal anatomy was mostly preserved, most of the patients affected by Streptococcus mitis-induced endophthalmitis did not regain baseline vision after the therapy. Full article

(This article belongs to the Special Issue Ocular Infection: Microbiological and Clinical Aspects)

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