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Interactive Lesson 22 Dicembre 2020

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ISMAR 2020  (9-13 Nov 2020) 10 Novembre 2020

We are at the IEEE International Symposium on Mixed and Augmented Reality with our paper: “Stepping over Obstacles with Augmented Reality based on Visual Exproprioception”.

This year ISMAR is in Virtual Reality using VirBELA.

Our Space:

Main room:

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EUROBENCH DATA ACQUISITION AT THE UNIVERSITY OF BRESCIA 28 Ottobre 2020

What is Eurobench?

Eurobench is a European academic project that aims to develop a system dedicated to biomedical applications.

The study of human movements and kinematics requires knowledge of the weights and inertia of each part of the body.

Our contribution consists in the development of a measurement system that autonomously estimates these parameters. The system consists of a hospital bed with a low deformation mattress, a ToF camera directed downwards above it and a computer which collects and process the data.

In collaboration with the University of Brescia we met at the Mechanical Engineering department to acquire data for testing and validation.

Volume and Inertia Estimation

Two days of work at the laboratories of the Mechanical Engineering department of the University of Brescia allowed to acquire several subjects.

The acquisition device requires the subject to wear the least amount of clothing possible. This need was explained to each individual volunteer before the acquisition as he/she entered in the laboratory. Moreover, the procedure for acquiring and processing personal data was meticulously clarified, remembering to the subject that she/he could withdraw at any time.

Once consent was obtained, the patient prepared in a locker room wearing only underwear. He was then asked to lie down on the bed and remain still with his arms and legs slightly apart.

Each subject was acquired three times. First in the phase of complete exhalation, then in the phase of maximum inhalation, finally with normal breathing.This process is used to compare volumetric measurements taking into account the volume of air present in the lungs.

After the acquisition in bed, the subject was measured with the traditional tailoring system, collecting the distances and the main anatomical circumferences.

(In compliance with the covid 19 regulations, every room and used surfaces were cleaned and sanitized, the use of mask and gloves was compulsory).

 

 

 

Gait analysis using sensorized crutches

Following the acquisition for the volumetric and inertial estimation, the subject went to another laboratory to carry out the analysis of walking with crutches.

Here the volunteer was prepared by attaching the reflective markers. These markers are necessary for the identification of the main joints and for the kinematic reconstruction of the movement.
A pair of crutches were provided to the user and the walking method to be performed was explained. Both the crutches and the platform on which the subject would have walked were sensorized. In this way it was possible to collect the pressure and acceleration data necessary to analyze the movement.

 

 

 

 

 

 

 

 

 

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LESSONS NOTICES 12 Dicembre 2020

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EUROBENCH 28 Ottobre 2020

Autonomous  Volume and Inertia Estimation of Anatomical Segments

 

WHAT IS EUROBENCH ABOUT?

Eurobench is a European academic project that aims to develop a system dedicated to biomedical applications.

The study of human movements and kinematics requires knowledge of the weights and inertia of each part of the body.

Our contribution consists in the development of a measurement system that autonomously estimates these parameters. The system consists of a hospital bed with a low deformation mattress, a ToF camera directed downwards above it and a computer which collects and process the data.

HOW DOES IT WORK?

ACQUISITION  :

The ToF camera acquires the RGB image and depth image, which are then stored and processed by the local PC.

 

 

 

 

PROCESSING  :

The depth data are processed with a Ransac algorithm, to find the bed surface and isolate the patient’s point cloud from the rest of the environment. The RGB image is processed separately by Open Pose, a Machine Learning algorithm that extrapolates the skeleton and joints from a 2D image. By merging the patient’s point cloud with the 2D coordinates of the joints, it is possible to reconstruct the 3D skeleton and isolate the anatomical parts of the body.

 

 

VOLUME AND INERTIA COMPUTATION    :

A variation of the traditional Montecarlo approach is used to compute the Volume and the Inertia of each element. The process considers a prismatic element of known volume around the object and generates a large number of points inside it. All the generated points fall within the known volume, but only a part of them also falls within the cloudpoint of the body part taken into consideration. The known volume multiplied by the rate between the points that fell within and out the pointcloud gives the desired volume.

The total body mass is obtained by multiplying the volume by an average density reported in the literature.
Similarly, inertia is calculated. Each time a new point falls within the point cloud, its Euclidean distance from the axes of inertia is calculated. The distance multiplied by the mass of the point provide its inertial contribute. It is important to clarify that the mass of each individual point is given by dividing the mass of the body part by the number of points that have fallen in it.
The overall inertia is calculated as the sum of all the small inertial contributions of these points.

 

 

 

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Lstm based Emg controller for Serious Game Application 13 Ottobre 2020

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Link to the remote sessions 22 Dicembre 2020

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HOMEWORKS 12 Dicembre 2020

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COURSE INTRODUCTION 25 Settembre 2020

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Publications 25 Settembre 2020

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