Ultrasound-Guided Assistive Robots for Scoliosis Assessment With Optimization-Based Control and Variable Impedance

• Published in: IEEE robotics and automation letters Vol. 7; no. 3; pp. 1 - 8
• Main Authors: Duan, Anqing, Victorova, Maria, Zhao, Jingyuan, Sun, Yuxiang, Zheng, Yongping, Navarro-Alarcon, David
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.07.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Contact force; End effectors; Human engineering; Impedance; Learning from Demonstration; Medical Robots and Systems; Optimization; Optimization and Optimal Control; Physical Human-Robot Interaction; Probes; Quadratic programming; Robot kinematics; Robots; Scoliosis; Service robots; Task analysis; Task and Motion Planning; Ultrasonic imaging
• ISSN: 2377-3766; 2377-3766
• DOI: 10.1109/LRA.2022.3186504

Assistive robots for healthcare have witnessed a growing demand over the past decades. In this paper, we investigate the development of an optimization-based control framework with variable impedance for an assistive robot to perform ultrasound-guided scoliosis assessment. The conventional procedure...