Mapping Discomfort through Patient Input in Robotic Physiotherapy

In this work, we propose a method of processing patient input on discomfort level during robot shoulder physiotherapy into discomfort maps. These maps represent the patient's discomfort distribution throughout the range of motion of the shoulder, interpretable by both physiotherapists and robots. This method consists of three parts: the patient...

Developing a high-performance patient-to-image registration system for robotic cochlear implant surgery: Through the human-robot interaction-focused design method leading to a multi-modal, multi-feedback admittance control, touch-based pair-point bone-anchored fiducial registration and its performance measured in accuracy, workload, usability and trust

This thesis presents the research to design a successful high-accuracy, sub-millimetric registration method for an autonomous robot equipped to drill bone for cochlear implant (CI) surgery. Its performance, and thus success, is measured in accuracy, workload, usability and trust. While state-of-the-art (STOTA) research lacks the inclusion of...