ArticleIEEE transactions on medical robotics and bionics2022
GuLiM: A Hybrid Motion Mapping Technique for Teleoperation of Medical Assistive Robot in Combating the COVID-19 Pandemic.
Article in IEEE transactions on medical robotics and bionics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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3 citing papers in PubMed.
- Thermal Radiation Sensors Based on Ionic-Conducting Pectin Films.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Article
- An Intuitive and Efficient Teleoperation Human-Robot Interface Based on a Wearable Myoelectric Armband.Biomimetics (Basel, Switzerland) · 2025Article
- A Medical Assistive Robot for Telehealth Care During the COVID-19 Pandemic: Development and Usability Study in an Isolation Ward.JMIR human factors · 2023Article
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7 authors.
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Abstract
Driven by the demand to largely mitigate nosocomial infection problems in combating the coronavirus disease 2019 (COVID-19) pandemic, the trend of developing technologies for teleoperation of medical assistive robots is emerging. However, traditional teleoperation of robots requires professional training and sophisticated manipulation, imposing a burden on healthcare workers, taking a long time to deploy, and conflicting the urgent demand for a timely and effective response to the pandemic. This paper presents a novel motion synchronization method enabled by the hybrid mapping technique of hand gesture and upper-limb motion (GuLiM). It tackles a limitation that the existing motion mapping scheme has to be customized according to the kinematic configuration of operators. The operator awakes the robot from any initial pose state without extra calibration procedure, thereby reducing operational complexity and relieving unnecessary pre-training, making it user-friendly for healthcare workers to master teleoperation skills. Experimenting with robotic grasping tasks verifies the outperformance of the proposed GuLiM method compared with the traditional direct mapping method. Moreover, a field investigation of GuLiM illustrates its potential for the teleoperation of medical assistive robots in the isolation ward as the Second Body of healthcare workers for telehealthcare, avoiding exposure of healthcare workers to the COVID-19.
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