Continuum manipulators have exceptional bending capabilities and gentle interaction with surrounding tissues; these manipulators have been widely adopted in medical applications. In single-port surgeries, the surgical field is narrow and densely populated with tissues and nerves, often extending beyond the continuum manipulator's dexterous workspace. This study proposes a control strategy designed to balance the trade-off between high dexterity and the spatial limitations of the non-dexterous workspace. This strategy employs Jacobian-based differential kinematics to compute solutions, thereby expanding the reachable workspace boundaries based on dexterity. By integrating the concept of spatial solid angles, the dexterity of the continuum manipulator within the reachable workspace is intuitively analysed. Experimental results indicate that the proposed method can effectively expand the workspace and enhance fault tolerance in spatial matching. The system maintains high trajectory-tracking consistency and orientation continuity within the non-dexterous workspace, thereby improving the accuracy and stability of teleoperation.
Projection mapping (PM) enables augmented reality (AR) experiences without requiring users to wear head-mounted displays and supports multi-user interaction. It is regarded as a promising technology for a variety of applications in which users interact with content superimposed onto augmented objects in tabletop workspaces, including remote collaboration, healthcare, industrial design, urban planning, artwork creation, and office work. However, conventional PM systems often suffer from projection shadows when users occlude the light path. Prior approaches employing multiple distributed projectors can compensate for occlusion, but suffer from latency due to computational processing, degrading the user experience. In this research, we introduce a synthetic-aperture PM system that uses a significantly larger number of projectors, arranged densely in the environment, to achieve delay-free, shadowless projection for tabletop workspaces without requiring computational compensation. To address spatial resolution degradation caused by subpixel misalignment among overlaid projections, we develop and validate an offline blur compensation method whose computation time remains independent of the number of projectors. Furthermore, we demonstrate that our shadowless PM plays a critical role in achieving a fundamental goal of PM: altering material properties without evoking projection-like impression. Specifically, we define this perceptual impression as "sense of projection (SoP)" and establish a PM design framework to minimize the SoP based on user studies.
Debates in consciousness science increasingly question whether computational functionalism is sufficient to explain conscious processing. We summarize three core features of the Global Neuronal Workspace (GNW) theory that highlight the multilevel architecture of conscious processing, extending from cellular and molecular mechanisms to large-scale network dynamics. On this interpretation, GNW is not a functionalist computational theory, unlike the Global Workspace theory, with which it is frequently conflated.
To examine spontaneous sit-stand desk (SSD) use in a shared academic workspace, isolating the environmental effect of availability without behavioral, organizational, or multicomponent strategies. A two-month observational-study (40-hours) was conducted in a Portuguese university staff-room. Two SSDs were accessible without instructions, prompts, or interventions. Episode frequency and standing duration were analyzed by time of day, day-of-week category, and weather; motivations were assessed anonymously. SSD use was limited yet measurable (26.5% of observation-time-use; 8.3% of potential-users, actually using it), higher on rainy days and later in the week; use-episodes were longer in the morning. Desk placement (visibility and proximity to traffic flow) and layout (unobstructed access) were positively associated with engagement. Availability alone may encourage postural variation, though complementary behavioral and organizational strategies may be required to increase adoption, particularly among non-users.
Motion sensing technology can be utilized to capture detailed upper extremity (UE) motion to reconstruct an individual's three-dimensional (3D) reachable workspace (RWS). The RWS can be quantified as relative surface area (RSA), providing an innovative surrogate measure to assess UE mobility and function. Numerous studies have shown that RSA can reliably distinguish between healthy and impaired UE function and also is able to detect clinically relevant longitudinal changes, with sufficient sensitivity to detect small differences even in slowly-progressive conditions. After more than a decade of experience in clinical studies, RWS has been shown to be a valid, reliable, and sensitive UE clinical outcome assessment (COA) tool, with clinical utility in various neuromuscular diseases in which UE impairment is significant, including facioscapulohumeral dystrophy (FSHD), Duchenne muscular dystrophy (DMD), and amyotrophic lateral sclerosis (ALS). RWS and its performance outcome (PerfO) measure RSA have demonstrated strong associations with established clinical measures of disease severity, patient-reported outcomes (PROs), and functional performance, further supporting its clinical relevance. As an UE functional assessment tool, RWS has also shown its generalizable application in various other conditions with UE impairment, such as stroke, orthopedic conditions, and other musculoskeletal disorders. With significant body of work supporting sensor-based RWS as a clinically useful assessment of UE function, future developments incorporating increasingly-capable mobile sensing technologies for remote monitoring and applying machine learning and artificial intelligence (AI) approaches to the sensor-acquired motion data promise further exciting possibilities to enhance clinical studies and patient care.
Pelvimetry may aid preoperative planning in rectal cancer surgery, yet manual measurements are time-consuming and MRI-based methods require dedicated protocols. We developed a fully automated CT-based pipeline for quantifying mid-pelvic geometry and soft tissue occupancy at the ischial spine level, the narrowest corridor encountered during total mesorectal excision. This retrospective feasibility study included 73 patients with mid-to-low rectal cancer who underwent contrast-enhanced staging CT. Automated segmentation was performed using TotalSegmentator. The pipeline extracted interspinous distance (ISD) via an anatomically anchored search strategy with valley detection, constructed a posterior pelvic triangle bounded by the bilateral ischial spines and anterior sacrum, and quantified bowel and fat occupancy within this region. Automated measurements were validated against blinded manual annotations by two independent raters. Pipeline success rates, failure taxonomy, and agreement between contrast-enhanced and non-contrast acquisitions (n = 69 paired cases) were evaluated using intraclass correlation coefficients (ICC) and Bland-Altman analysis. The pipeline achieved complete ISD extraction in 100% of contrast-enhanced and 95.8% of non-contrast cases. In blinded validation (n = 70), automated ISD agreement against manual reference (ICC = 0.977; bias = 0.45 mm) exceeded inter-rater reliability (ICC = 0.962), and triangle-derived metrics showed a good-to-excellent agreement (ICC = 0.86-0.89, auto vs. manual). ISD measurements showed excellent agreement across contrast conditions (ICC = 0.99; mean bias = 0.09 mm; 95% limits of agreement: - 2.51 to 2.69 mm). Bone-derived triangle metrics demonstrated strong concordance (ICC = 0.90-0.93). Fat-related metrics showed systematic differences between contrast conditions but maintained good agreement (ICC = 0.87-0.91). Sex-based differences were consistent with known pelvic dimorphism. This fully automated pipeline reliably extracts mid-pelvic geometry and soft tissue metrics from routine staging CT, with measurement agreement matching or exceeding manual inter-rater variability, offering a standardized, practical, and reproducible approach for characterizing the surgical workspace in rectal cancer patients.
Safe flight operation requires visual scanning across multiple displays in a cockpit, which collectively represent the state of the aircraft and supporting automation. Trust is a crucial factor that drives human-automation interaction, and recent work has suggested a relationship between an operator's visual attention and automation trust. One index that captures predictability of eye movements between different areas of interest is gaze transition entropy. The current work reanalyzed data from Sato et al., which examined eye movement patterns and trust in automation associated with the system monitoring task of the Multi-Attribute Task Battery. Results showed credible positive correlations between the entropy measures and performance-based trust, but not for process- nor purpose-based trust. Specifically, higher levels of performance-based trust were associated with more random eye movement. Gaze transition entropy may provide a new window into the relationship between visual attentional resource allocation and automation trust in a multitasking workspace.
Identifying the neural correlates of consciousness (NCC) is widely regarded as imperative to our understanding of consciousness. Although several scientific theories of consciousness make predictions about the NCC, they often differ in their level of detail, making direct comparison through experimental findings difficult. Here, we report an adversarial collaboration protocol in which unbiased experimentalists will test predictions formed by theory proponents of Global Neuronal Workspace Theory (GNWT) and Integrated Information Theory (IIT), concerning the location, timing and functional connectivity of the NCC. To enable cross-species comparisons, non-human primates (NHPs) and mice will view/listen to supra-threshold visual/auditory stimuli for variable durations in a go-nogo task that controls for report confounds, while we record with Neuropixels electrodes neuronal responses from visual, auditory, posterior parietal and/or prefrontal cortical areas. To causally test predictions about the timing and location, we will manipulate activity in prefrontal cortical regions using electrical stimulation in NHPs or optogenetic silencing in mice. This Study Protocol details the experimental design, analyses, divergent predictions, and the anticipated outcomes, along with their interpretation.
This study examines how structured interventions influence team creativity on a metaverse-based collaboration platform. Using B.sket, a custom virtual workspace, we tested two interventions during an online brainstorming task: (1) real-time participation feedback delivered as a communication barcode showing each member's speaking time and sequence (an informational cue), and (2) a group norm communication encouraging equal participation (a social-normative cue). Eighty-one university students in South Korea, recruited through online advertisements using a convenience sampling method, participated in a 2 (group norm prompt: provided vs. not) × 2 (participation feedback: provided vs. not) between-subject factorial design. Team creativity was evaluated by fluency, flexibility, and originality. Results revealed that, contrary to expectations, participation feedback significantly reduced idea fluency and showed marginally negative effects on flexibility and originality. The group norm prompt produced no significant improvements in creativity. We speculate that these findings can be explained by self-determination theory and ego depletion theory, such that real-time participation feedback may undermine individuals' sense of autonomy and induce cognitive distraction, thereby reducing creative performance. We discuss practical implications that team process interventions for promoting equal participation should be designed carefully to avoid these unexpected consequences.
This study aimed to explore the effect of transitioning to working from home (WFH) on health for employees with a tertiary degree. Data were drawn from the COVID-19 Social Monitor, a large, high-frequency longitudinal online panel of the Swiss 18-79-year-old resident population (N = 3,381). We estimated individual-fixed-effects models to examine the effect of transitioning to WFH on 13 binary health outcomes related to general health, mental health, physical health, health behaviour and social trust. Even post-COVID-19 WFH measures, the proportion of tertiary-educated employees working from home remained high relative to pre-pandemic levels. Individual fixed-effects estimates suggest no evidence of an effect of transitioning to WFH on any of the health outcomes. The upward trend in WFH underscores the importance of health-impact research in this context. The absence of adverse health effects is significant for employers and policymakers aiming to provide flexible work arrangements. Our study provides a benchmark for future research by encompassing a comprehensive range of health outcomes and utilizing a longitudinal panel structure that captures the transition from mandatory to optional WFH arrangements.
Previous investigations of work-related musculoskeletal disorders (WMSDs) and proper ergonomics in physicians have largely focused on interventionalists and surgeons, given the nature of their jobs. However, with the societal shift toward increased desk work and the widespread adoption of telemedicine, it is essential to examine the ergonomic challenges associated with remote care. Understanding and addressing these factors is critical to prevent musculoskeletal (MSK) strain among physicians and to ensure they can continue delivering high-quality patient care in the long run. Therefore, the goal of this review is to summarize recent interventions targeting ergonomic workspace improvements to mitigate WMSD in physicians practicing telemedicine. A database search was conducted in August 2024 using PubMed, Embase, CINAHL, and Scopus. Studies published in the last 15 years were included if they examined adults in interventional designs measuring musculoskeletal outcomes or sitting time. A total of 47 studies met the inclusion criteria, exploring various ergonomic interventions including: ergonomic training, active workstations, exercise programs, standing desks, backrests, ergonomic chairs, forearm supports, head-alignment devices, and biofeedback devices. Most studies had a positive impact on WMSD. This review highlights the importance of integrating movement, posture optimization, and personalized workspace adjustments to alleviate MSK discomfort and enhance workplace health for physicians. Since the COVID-19 pandemic, many physicians have increased the use of telemedicine and video visits. This change means more time spent sitting and working at a computer, similar to other office and remote workers. Unfortunately, this prolonged sedentary time and screen time often leads to pain and discomfort in the muscles and joints. These issues are known as work-related musculoskeletal disorders (WMSDs), and they commonly affect the back, neck, shoulders, and wrists. This review looked at recent research on how to improve workspaces for physicians practicing telemedicine, both at home and in clinics, to reduce their risk of WMSD. We reviewed 47 studies published over the past 15 years that looked at different ways to improve the workspaces of remote and office workers. The studies included a variety of solutions, including standing desks, ergonomic chairs, monitor and keyboard adjustments, biofeedback tools to improve posture, and scheduled movement or exercise breaks. Many of these strategies helped reduce pain, improve posture, and make workers feel more comfortable during long workdays. While the studies looked at remote workers in general, these same suggestions can be applied to physicians practicing telemedicine. One key takeaway is that combining different strategies—such as taking regular breaks, adjusting one's computer setup, and providing education on healthy workspace adjustments—is most effective. More research is needed to better understand how to support physicians practicing telemedicine, especially since many may not have access to ergonomic equipment at home. Helping physicians stay healthy at their workstations is important not just for their comfort, but also for their ability to care for patients effectively in the long run.
Fabric-based soft gloves, due to their safety, light weight, and compliance, exhibit promising potential in assisting individuals with hand impairments. However, most existing soft gloves focus solely on finger flexion and extension, with limited consideration for thumb assistance. This restricts their effectiveness in tasks requiring extensive workspace and dexterous manipulation. In this work, we present a new class of fabric-based soft glove with 15 degrees of freedom (DOFs), including finger flexion/extension, thumb abduction/adduction, thumb opposition/reposition, and finger abduction. The high-DOF fabric-based soft glove integrates bidirectional fabric-based pneumatic actuators (FPAs) for finger flexion/extension, X-crossing pneumatic artificial muscles (X-PAMs) for thumb assistance, and Y-shaped bladed FPAs for finger abduction. To enhance the thumb tip workspace, we optimize the X-PAM positioning by modeling thumb kinematics from an anatomical perspective. The experimental results show that the optimized passive workspace of the thumb, assisted by the glove, encompasses approximately 70% of its active workspace. Through our mirror control system, we further demonstrate the glove's capability to perform complex gestures and versatile grasping tasks with various object geometries, sizes (0.1-11.5 cm), and masses (1.7-500.0 g). The glove supports both power and precision grasps, as well as fine manipulations.
For a robot to operate effectively in human-centric environments, finding objects based on natural language is essential. Zero-shot object goal navigation is a significant challenge where robots must find unseen objects in new environments without prior knowledge. Existing methods often struggle with strategic exploration, leading to inefficient searches. In this study, we propose a hierarchical scene graph-based navigation system to address this challenge. Our core innovations are twofold: dynamically constructing a three-layer "room-workspace-object" hierarchical scene graph without manually pre-tuned parameters, and introducing a novel workspace-based searching strategy. By evaluating semantic relevance at the workspace level rather than the object level, the robot infers probable containers for a target, enabling focused, human-like exploration. Simulation results demonstrate that our system significantly outperforms existing state-of-the-art methods. Quantitatively, our approach improves the Success Rate (SR) by 26.8% (SR 0.4859) under distance-constrained settings and by 20.2% (SR 0.7360) under unconstrained settings, compared to the best baselines. These results validate that our framework offers a robust solution for zero-shot object goal navigation.
This study aims to examine the most frequently pursued goals among individuals with cervical spinal cord injury (cSCI) undergoing posterior deltoid-to-triceps transfer, and to assess the extent to which these goals are represented in existing questionnaires and assessments. Retrospective observational study SETTING: Spinal cord Injury rehabilitation centre in Switzerland PARTICIPANTS: 47 participants (37 male, 10 female) with cSCI, levels of injury C4-C6, mean age of 33.4 years (SD 10.7 years), 4.8 years (SD 6.7 years) between injury and surgical reconstruction. In total, 307 goals were consolidated into 32 activities of daily living (ADLs). The goals were additionally categorized according to the Activity and Participation component of the International Classification of Functioning, Disability and Health (ICF), and by three functional workspaces (below, at and above shoulder level). The frequency of each ADL, ICF category, and workspace was determined across all goals and stratified by levels of injury. The 15 most most frequently ADLs were compared with the items from existing questionnaires and assessments. Not applicable. The most frequently pursued ADLs were "performing a transfer" (15%), "taking an object from the shelf" (14%), followed by "operating a manual wheelchair" and "dressing upper body" (each 7%). These rankings remained consistent across different ICF categories and levels of injury. Most of the ADLs happen "below shoulder level" (47%), then "above shoulder level" (32%) and "at shoulder level" (21%). Among existing questionnaires and assessments, the Van Lieshout Test showed the highest overlap (33%) with the 15 most relevant ADLs. An active elbow extension is crucial not only for overhead activities, but also for activities below shoulder level. Existing questionnaires and assessments insufficiently cover the most frequently pursued ADLs, emphasizing the need for a tailored tool for individuals with cSCI undergoing surgical reconstruction of active elbow extension.
Watertight dural closure in deep endoscopic endonasal surgery remains technically demanding, largely due to restricted workspace and limited instrument maneuverability. We describe a standardized, stepwise dural suturing technique based on three core principles: workspace optimization, adaptive grip strategy, and controlled needle handling. Detailed strategies for instrument selection, needle trajectory, and graft-based sealing are presented to enhance reproducibility. Systematic application of these principles enables reliable, watertight dural closure in deep endoscopic fields and may facilitate broader application of dural suturing as a reconstructive technique.
Magnetic manipulation is increasingly used in medical applications for its potential in remote control. However, precise magnetic field generation in large workspaces remains challenging. This paper introduces an adaptive robotic end effector, the tunable magnetic end effector (TME), capable of generating spatially controllable magnetic fields. By integrating permanent magnets, the TME enables accurate magnetic control for wireless manipulation of miniaturized medical devices. Compared to standard switchable permanent magnets, TME offers enhanced field control suited for delicate operations. Finite element (FEM) simulations and experiments confirm reliable ON/OFF field switching, showing a 7.2% average error. Key design parameters (magnet size, material, and arrangement) were optimized via simulation. An artificial neural network (ANN), trained on spatial, rotational, and magnetic data, enables adaptive control. Proof-of-concept demos include steering millimeter-scale magnetic carriers, shaping magnetic soft robots, and directing magnetic nanoparticle swarms. The dual-TME configuration further expands the effective manipulation workspace and enables dynamic switching of magnetic field directions across different regions, thereby enhancing the system's applicability.
Compared to purely serial robots or cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) combine the advantages of both, addressing their limitations and enabling the execution of complex tasks. The series-parallel coupling structure increases the complexity of the system, complicating modeling, calibration, and force-closure workspace (FCW) analysis. This study develops a CDHR system equipped with various sensors and proposes methods for series-parallel coupling modeling, workspace analysis, and self-calibration of complex systems. First, the modular design requirements for the CDHR are analyzed, comprising an 8-cable parallel drive and a 4-degree-of-freedom serial manipulator. Second, a kinematic model of the CDHR with series-parallel coupling was derived, and the positions of the dynamic anchor seats were optimized using an optimization algorithm. Based on these optimized results, a modeling and analysis method for the statics and FCW is proposed. Furthermore, considering the complex and interdependent structural parameters of the system, a method for the self-calibration of the system parameters and trajectory planning for the CDHR is presented. Finally, experimental validation on both simulations and a physical prototype confirmed the effectiveness of the proposed methods. The developed prototype and the proposed method provide a basis for high-precision operations in large spaces, operations in dangerous/extreme environments, and automated operations in logistics/warehousing.
This article presents the findings of experimental research conducted to assess the stability of the force mode of the UR5e cobot from Universal Robots in the low-force range, from 1 N to 10 N. The set values of the robot's forces and the physically measured values were verified by an OptoForce Hex six-axis Force/Torque sensor attached to the robot's wrist, additionally coupled with an end-effector specially designed for research purposes. The results were recorded using proprietary software developed in the LabVIEW environment and a configured test lab station with a UR5e cobot. Three experimental tests were performed, in which the parameters of the effective force were measured while varying (1) the position of the task in the workspace of the robot, (2) the position and the level of force, and (3) the controller parameters of the force mode. The results of the experiments were compiled and presented in tables containing descriptions of, among other parameters, the following: the mean forces and their standard deviation; the mean maximum forces and its standard deviation; the mean root mean square error and its standard deviation; the mean absolute error and its standard deviation; the mean rate of force and its standard deviation; and the mean overshoot and its standard deviation. The findings of Experiment 1 demonstrated that when a setpoint of 10 N was employed, the UR5e cobot yielded an actual mean force ranging from 8.95 N to 13.26 N within the workspace plane. Experiment 2 showed that the average deviation from the set value within the 1-10 N range was approximately 0.38 N, with a maximum deviation of 0.61 N occurring at the limits of the working space. Experiment 3 showed that for the force range of 1-4 N, the best controller settings are Gain = 0.5 and Damping = 0.7; for the force range of 5-7 N: Gain = 1.0 and Damping = 0.6; and for the force range of 8-10 N: Gain = 2.0 and Damping = 0.8. Polynomial regression models were developed for each positioning scenario that can be used when making decisions regarding practical applications of the low-force mode.
Background: Ergonomics can be adapted to the work-from-home context, e.g., training on adjustment, adjusted furniture provision, and professional evaluation of the ergonomic adjustment of one's workspace. However, very little research has examined the extent to which such supports have been offered to the diverse small and medium enterprise (SME) teleworkers population post-pandemic. Objectives: 1) Examine if, and how, i) ergonomics support provided to SME teleworkers, and ii) their satisfaction with the ergonomic adjustment of their workstation vary according to individual and organizational characteristics; 2) investigate the associations between provided ergonomics support and workstation satisfaction. Methods: 1162 teleworkers (616 supervisors) employed by SMEs in Canada completed an online questionnaire that included items regarding three ergonomic supports (i.e., training, equipment, evaluation) and workstation satisfaction. Results: Logistic and linear regression analyses indicated that several individual and organizational characteristics significantly (ps ≤ .05) predicted whether teleworkers received each form of ergonomic support (training: gender, enterprise size, union presence; equipment: supervisory role; evaluation: daily time at the computer, supervisory role) or their level of satisfaction with their workstation (union presence). Hours per week employers expected employees to telework and age significantly predicted being provided with ergonomic support (of any form) and workstation satisfaction. Linear regressions indicated that each ergonomic support was significantly related to increased workstation satisfaction. Conclusions: Some groups of teleworkers (e.g., women, younger workers, those in medium-sized enterprises, workers represented by a union) in SMEs seem more likely to receive ergonomic support than others. Receiving more ergonomic support cascades to more satisfaction with one's workstation.
High-resolution contact localization and three-axis force estimation are crucial for human-robot interaction and precision manipulation, yet the sensing area is limited by channel density and wiring cost. Sparse strain readout makes joint estimation of location and three-axis force challenging due to cross-axis coupling and nonlinear responses, while dense arrays or extensive calibration increase complexity. We present a sparse strain-node tactile interface device (SSTID) whose three-module layout is optimized via particle swarm optimization to maximize informative response overlap, enabling contact localization (x,y) and three-axis force (Fx,Fy,Fz) estimation using only nine strain channels. We further propose a strain-node contact-state decoding framework (SCDF) implemented with a lightweight multilayer perceptron and trained via a two-stage sim-to-real strategy, including FEM pretraining followed by few-shot real-data adaptation. Experiments demonstrate accurate contact-state decoding with full-workspace characterization, supporting low-cost and scalable deployment of sparse tactile interfaces.