Abdeldjallil Naceri

Abdeldjallil Naceri

Technische Universität München

H-index: 12

Europe-Germany

Abdeldjallil Naceri Information

University

Technische Universität München

Position

Senior Scientist MSRM

Citations(all)

540

Citations(since 2020)

405

Cited By

205

hIndex(all)

12

hIndex(since 2020)

11

i10Index(all)

15

i10Index(since 2020)

12

Email

University Profile Page

Technische Universität München

Abdeldjallil Naceri Skills & Research Interests

Human and robot grasping

human robot interaction

telerobotics

digital twins & VR

Top articles of Abdeldjallil Naceri

Toward telemedical diagnostics—clinical evaluation of a robotic examination system for emergency patients

IntroductionThe SARS-CoV-2 pandemic has affected global public healthcare for several years. Numerous medical professionals have been infected since the outbreak in 2019, resulting in a shortage of healthcare providers. Since traditional personal protective wear was insufficient to eliminate the virus transmission reliably, new strategies to avoid cross-infection were imperative while enabling high-quality medical care. In the project ProteCT, we investigated the potential of robotic-assisted examination in providing medical examination via a telemedical approach.Material and MethodsWe constructed a fully functional examination cabin equipped with cameras, microphones, screens and robotic arms to evaluate usability and perception. Therefore, we conducted a preliminary study with 10 healthy volunteers and 10 physicians to gain first insights and optimize the setup. In a second step, we performed telemedical …

Authors

Maximilian Berlet,Jonas Fuchtmann,Roman Krumpholz,Abdeldjallil Naceri,Daniela Macari,Christoph Jähne-Schon,Sami Haddadin,Helmut Friess,Hubertus Feussner,Dirk Wilhelm

Journal

Digital Health

Published Date

2024/1

Exploring Motor Skill Acquisition in Bimanual Coordination: Insights from Navigating a Novel Maze Task

In this study, we introduce a novel maze task designed to investigate naturalistic motor learning in bimanual coordination. We developed and validated an extended set of movement primitives tailored to capture the full spectrum of scenarios encountered in a maze game. Over a three-day training period, we evaluated participants' performance using these primitives and a custom-developed software, enabling precise quantification of performance. Our methodology integrated the primitives with in-depth kinematic analyses and thorough thumb pressure assessments, charting the trajectory of participants' progression from novice to proficient stages. Results demonstrated consistent improvement in maze performance and significant adaptive changes in joint behaviors and strategic recalibrations in thumb pressure distribution. These findings highlight the central nervous system's adaptability in orchestrating sophisticated motor strategies and the crucial role of tactile feedback in precision tasks. The maze platform and setup emerge as a valuable foundation for future experiments, providing a tool for the exploration of motor learning and coordination dynamics. This research underscores the complexity of bimanual motor learning in naturalistic environments, enhancing our understanding of skill acquisition and task efficiency while emphasizing the necessity for further exploration and deeper investigation into these adaptive mechanisms.

Authors

Miguel Cienfuegos,Jonathan Maycock,Abdeldjallil Naceri,Düsterhus Tobias,Risto Kõiva,Thomas Schack,Helge Ritter

Published Date

2024/4/25

Autonomous swab robot for naso-and oropharyngeal COVID-19 screening

The COVID-19 outbreak has triggered a global health and economic crisis, necessitating widespread testing to control viral spread amidst rising cases and fatalities. The recommended testing method, a combined naso- and oropharyngeal swab, poses risks and demands limited protective gear. In response to the COVID-19 pandemic, we developed and tested the first autonomous swab robot station for Naso- and Oropharyngeal Coronavirus Screening (SR-NOCS). A force-sensitive robot running under a Cartesian impedance controller is employed to drive the swab to the sampling area. This groundbreaking device underwent two clinical studies-one conducted during the initial pandemic lockdown in Europe (early 2021) and the other, more recently, in a public place after the pandemic had subsided earlier in the year 2023. In total, 52 patients suspected of COVID-19 infection were included in these clinical studies …

Authors

Simon Haddadin,Dirk Wilhelm,Daniel Wahrmann,Fabio Tenebruso,Hamid Sadeghian,Abdeldjallil Naceri,Sami Haddadin

Journal

Scientific Reports

Published Date

2024/1/2

Virtual reality-based framework for service robotics: Data monitoring and recording during rehabilitation scenarios

Nowadays, robotics systems offer many opportunities to assist humans in their daily lives. Unfortunately, the additional freedom, required to autonomously operate in different environments, comes with an increased risk during operation. In this paper, we introduce our data recorder system to provide transparency of past events during human-robot interactions. The general concept of our system is based on a modular design that allows rapid prototyping for the fast evolution of service robotic systems. Furthermore, our virtual reality interface and data observations make the system one of a kind and enable complete user immersion in past interaction events. Our system was applied to a rehabilitation scenario to demonstrate its feasibility, performance, and capabilities. In a real-world example, we showed the necessity and practicality of such a system. By presenting our concept, we advanced one major step toward …

Authors

Jon Skerlj,Daniel Pérez-Suay,Severin Knebel,Hamid Sadeghian,Abdeldjallil Naceri,Sami Haddadin

Journal

IFAC-PapersOnLine

Published Date

2023/1/1

Data Recording for Responsible Robotics

The last decades have seen continuous attempts to advance the application of robotics and artificial intelligence (AI) research in several areas such as healthcare environments. However, using (semi)autonomous robots in healthcare also poses risks that need to be addressed throughout the systems' lifecycle. In this work, we present our version of a data recorder, as the output of an interdisciplinary research collaboration that addresses relevant social, ethical, legal, and technical aspects of advanced robotics in healthcare. We use social science insights from interviews and ethnographic fieldwork with relevant stakeholders as well as ethical and legal analyses to derive and implement four technical requirements for a data recorder to enhance accountability and transparency of a service humanoid robot, GARMI, assisting in healthcare. We present a tool to log and visualize data from human-robot interactions as a …

Authors

Jon Skerlj,Maximilian Braun,Sophia Witz,Svenja Breuer,Marieke Bak,Sebastian Scholz,Abdeldjallil Naceri,Ruth Müller,Sami Haddadin,Iris Eisenberger

Published Date

2023/6/5

I2mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction

Sophisticated manipulation requires both compliance and accuracy. While tactile robots excel at being compliant, their accuracy is often inadequate for complex manipulation. Contact-rich assembly tasks, such as the insertion and manipulation of objects with small tolerances pose an enormous challenge. Complex, highly integrated assemblies, especially in high-tech areas such as robotics, sensors, or machines, still require human personnel, as they cannot be automated in a satisfactory way. To automate such tasks, especially in the context of labor shortage and Industry 4.0, these limitations must be overcome. Robots need to guarantee force limits for active environments in order to avoid harm or damage. Therefore, in this work, we adapt standard Cartesian impedance control by introducing an integration term for position accuracy and wrench limits for safe compliant interaction with unknown and active …

Authors

Florian Voigt,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/10/1

Identifying requirements for the implementation of robot-assisted physical therapy in humanoids: A user-centered design approach

Bimanual humanoid assistive robots can be a valuable tool to improve access to physical therapy and multi-dimensional physical status monitoring for older adults living at home. However, at present, there is no implementation of end-effector robot-assisted rehabilitation in assistive social robots. Therefore, this paper illustrates the first steps of a user-centered design approach to develop such a robot for upper limb treatments and rehabilitation. Based on observation of geriatric rehabilitation and expert interviews with physical therapists, an online survey was conducted with 87 physical therapists. The first part of the questionnaire aimed to better understand the context of use, current practices, and goals of geriatric rehabilitation. Our findings suggest that integrating exercises that combine physical and cognitive skills and aim to improve specific activities of daily living (ADLs) are critical. Secondly, a KANO analysis …

Authors

Simone Nertinger,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/8/28

A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud

As robots become more and more intelligent, the complexity of the algorithms behind them is increasing. Since these algorithms require high computation power from the onboard robot controller, the weight of the robot and energy consumption increases. A promising solution to tackle this issue is to relocate the expensive computation to the cloud. In this pioneering work, the possibility of relocating a state-of-the-art nonlinear control is investigated. To this end, the Unified Force-Impedance Controller (UFIC) is relocated to a remote location and high frequency feedback loop is established by including the remote controller in the loop. Passivity analysis is used to ensure the stability of the whole system, comprising the robot in interaction with the environment, the communication channel, as well as the remote controller. The instability associated with the communication channel is resolved by Time Domain Passivity …

Authors

Xiao Chen,Hamid Sadeghian,Lingyun Chen,Mario Tröbinger,Abadalla Swirkir,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/5/29

Shared Autonomy Control for Slosh-Free Teleoperation

Shared-autonomy control strategies in teleoperation combine human decision-making and robot precision to solve complex tasks. In other words, advanced autonomous control algorithms can compensate for imprecise human commands, reduce the mental workload of the user, and enable the execution of tasks that otherwise wouldn't be feasible. This paper addresses one of these previously challenging scenarios. Herein, we present a novel control framework and motion generator that allows for real-time non-prehensile slosh-free teleoperation of liquids. The proposed approach is able to generate robust trajectories on the follower side which ensures task-space, joint-space, and manipulability constraint satisfaction. Our findings were evaluated through user studies and real-world scenarios. Participants were even explicitly challenged to try to spill liquid through teleoperation, reaching speeds up to 0.6 m/s.

Authors

Rafael I Cabral Muchacho,Seongjin Bien,Riddhiman Laha,Abdeldjallil Naceri,Luis FC Figueredo,Sami Haddadin

Published Date

2023/10/1

Assessing Perceived Discomfort and Proxemic Behavior towards Robots: A Comparative Study between Real and Augmented Reality Presentations

This paper assesses the usefulness of immersive technology to evaluate perceived discomfort and proxemic behavior towards a robot depending on its size. Therefore, we compared a real and an augmented reality (AR) robot presentation. In a within-subject design, a service humanoid approached participants (N = 32) in four trials in a counterbalanced order. One trial presented a real robot, another showed a same-sized AR version, and two trials showed down-scaled AR versions of the robot. The perceived discomfort and the comfort distance were measured. For the presentation mode comparison, the distance estimation error was measured additionally. The results show that the comfort distance was greater for the AR robot than for the real one. The comfort distance was also greater for the largest robot compared to the smaller sizes, while there was no difference when comparing the smaller ones. There was …

Authors

Olivia Herzog,Simone Nertinger,Katharina Wenzel,Abdeldjallil Naceri,Sami Haddadin,Klaus Bengler

Published Date

2023/8/28

Human-Inspired Audiovisual Inducement of Whole-Body Responses

For service humanoid robots, it is crucial to design human-robot interaction behaviors that avoid eliciting negative responses from users. Drawing inspiration from the natural human response of turning attention when hearing one's own name, this paper introduces a system that enables users to effortlessly capture a robot's attention, fostering a more natural and intuitive interaction. The proposed system consists of an integrated audio-visual perception system and a sophisticated whole-body controller, effectively merging audio and vision data to stimulate comprehensive and coordinated robot motion during human robot interaction scenario. The system has been successfully implemented and tested on the service humanoid robot GARMI. The resultant whole-body motion emulates the natural human process of localizing sound and visual cues, enabling the robot to track and follow the user who initiated the …

Authors

Seongjin Bien,Jon Skerlj,Paul Thiel,Felix Eberle,Mario Tröbinger,Christian Stolle,Luis Figueredo,Hamid Sadeghian,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/12/12

Soft sensing skins for arbitrary objects: An automatic framework

Tactile sensors are becoming more prevalent in numerous research domains, including robotics, human-robot interaction, and grasping. As the development of customized soft tactile skin for various applications continues to gain momentum, there is an increasing demand for the automation of design and manufacturing processes based on user specifications. Our work presents a partially automated framework for designing and customizing silicone-based skin-like sensors for objects of arbitrary shapes. We assess the performance of stretch and contact sensors featuring custom patterns on complex surfaces, subjecting them to position control, grasping, and manipulation scenarios. Our study's findings demonstrate the feasibility of fabricating skin-like sensors effectively within a semi-automated framework, with potential applications in the aforementioned research domains.

Authors

Sonja Groß,Diego Hidalgo-Carvajal,Silija Breimann,Nicolai Stein,Amartya Ganguly,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/5/29

From Human Hand to Grasp Surface Detection, Tracking & Analysis

Hands are paramount for dexterous interactions that humans exhibit in daily life. Understanding the intricacies of human hand-object interactions is therefore necessary. Unfortunately, the limitations of state-of-the-art technologies make capturing the full hand-object complexity unfeasible, giving rise to the need for new technological means to achieve this aim. In this work, we propose an end-to-end framework in which individualized hand models are derived and used to capture quantitative personalized hand-object interaction information, precisely, hand shape, kinematics, and contact surfaces. The results of this study serve as a proof of concept that such a framework can significantly deepen personalized hand-object interaction analyses, providing, in perspective, insights for medical diagnoses and rehabilitation, among others.Clinical relevance— Our work showcases the need to incorporate bespoke human …

Authors

Diego Hidalgo-Carvajal,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/7/24

The influence of an interactive user training on perceived safety in HRI

As robots become more prevalent in personal use, human-robot interaction (HRI) must also take lay users into account. To ensure acceptance by new user groups, HRI must be perceived as safe. Since experience is a crucial factor in the perception of safety, we suggest an interactive user training to be a promising method to facilitate HRI for laypersons. In this paper, we analyze the level of perceived safety of 16 participants before and after a 30-minute user training compared to 14 participants of a control group without getting any robot-specific training. Further, the applicability of eye gaze parameters, i.e., fixation count and fixation duration, is evaluated as an objective metric to measure perceived safety. Whereas no significant effect of training can be found, habituation shows to have an impact on perceived safety in HRI. Even though the variables fixation count and fixation duration cannot be used to measure …

Authors

Sharon Exeler,Simone Nertinger,Olivia Herzog,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/9/26

LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation

The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform long-horizon tasks without expensive annotated demonstrations. However, public benchmarks for testing the long-horizon reasoning capabilities of language-conditioned robots in various scenarios are still missing. To fill this gap, this work focuses on the tabletop manipulation task and releases a simulation benchmark, \textit{LoHoRavens}, which covers various long-horizon reasoning aspects spanning color, size, space, arithmetics and reference. Furthermore, there is a key modality bridging problem for long-horizon manipulation tasks with LLMs: how to incorporate the observation feedback during robot execution for the LLM's closed-loop planning, which is however less studied by prior work. We investigate two methods of bridging the modality gap: caption generation and learnable interface for incorporating explicit and implicit observation feedback to the LLM, respectively. These methods serve as the two baselines for our proposed benchmark. Experiments show that both methods struggle to solve some tasks, indicating long-horizon manipulation tasks are still challenging for current popular models. We expect the proposed public benchmark and baselines can help the community develop better models for long-horizon tabletop manipulation tasks.

Authors

Shengqiang Zhang,Philipp Wicke,Lütfi Kerem Şenel,Luis Figueredo,Abdeldjallil Naceri,Sami Haddadin,Barbara Plank,Hinrich Schütze

Journal

arXiv preprint arXiv:2310.12020

Published Date

2023/10/18

Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations

Identifying the inertial parameters of real robotic manipulators is a fundamental step towards realistic modeling and better controller performances, which is crucial for safe human-robot interaction. Our work introduces a novel framework for identifying a generalized set of base inertial parameters of a serial link manipulator. This framework is designed to be adaptable to accommodate any new mounting configuration of the robot. Our theoretical analysis highlights the influence of the robot's mounting configuration on the emergence of new parameters that cannot be identified through the conventional vertical base-axis mounting approach studied previously. To validate our proposed framework, we carried out two main experiments: the first involved simulation to establish the feasibility of our concept, and in the second, our framework was employed on a Franka Emika Robot in a real-world scenario to demonstrate …

Authors

Mario Tröbinger,Abdeldjallil Naceri,Xiao Chen,Hamid Sadeghian,Sami Haddadin

Published Date

2023/5/29

Towards language-based modulation of assistive robots through multimodal models

In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the potential of language-based modulation as a means to improve human-robot interaction. We propose to explore real-time modulation during task execution, leveraging language cues, visual references, and multimodal inputs. By developing transparent and interpretable methods, we aim to enable robots to adapt and respond to language commands, enhancing their usability and flexibility. Through the exchange of insights and knowledge at the workshop, we seek to gather valuable feedback to advance our research and contribute to the development of interactive robotic systems for Geriatronics and beyond.

Authors

Philipp Wicke,Lütfi Kerem Şenel,Shengqiang Zhang,Luis Figueredo,Abdeldjallil Naceri,Sami Haddadin,Hinrich Schütze

Journal

arXiv preprint arXiv:2306.14830

Published Date

2023/6/26

Assessing Human-Human Kinematics for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A Pilot Study

The development of humanoids with bimanual manipulator arms may facilitate assistive robots to perform physical therapy with older adults living at home. As we assume the human-human interaction to be the gold standard of physical therapy, we propose a kinematics analysis to derive guidelines for implementing physical therapy assisted by humanoids. Therefore, a pilot study was carried out involving three physical therapists and two participants acting as exemplary patients. The study analyzes the therapists' movement strategy, including the position and orientation of the therapists' bodies in relation to the participants and the placement of the therapists' hands on the upper limb segment of the participants, as well as the inter- and intravariability during the performance of a ROM (range of motion) assessment. The results demonstrate that while physical therapists exhibit variation in their interaction strategies …

Authors

Simone Nertinger,Neha Das,Endo Satoshi,Abdeldjallil Naceri,Sandra Hirche,Sami Haddadin

Published Date

2023/9/24

Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments

As labor shortage increases in the health sector, the demand for assistive robotics grows. However, the needed test data to develop those robots is scarce, especially for the application of active 3D object detection, where no real data exists at all. This short paper counters this by introducing such an annotated dataset of real environments. The captured environments represent areas which are already in use in the field of robotic health care research. We further provide ground truth data within one room, for assessing SLAM algorithms running directly on a health care robot.

Authors

Michael G Adam,Sebastian Eger,Martin Piccolrovazzi,Maged Iskandar,Joern Vogel,Alexander Dietrich,Seongjien Bien,Jon Skerlj,Abdeldjallil Naceri,Eckehard Steinbach,Alin Albu-Schaeffer,Sami Haddadin,Wolfram Burgard

Journal

arXiv preprint arXiv:2310.05600

Published Date

2023/10/9

A force-sensitive exoskeleton for teleoperation: An application in elderly care robotics

With the increasing demand for new healthcare solutions and technologies, such as those resulting from the COVID-19 crisis, and the growing elderly population, exoskeletons for teleoperation are a promising solution for many future medical applications. In this context, we propose two force- sensitive upper-limb exoskeletons for teleoperation, that are characterized by: i) torque-controlled robotic actuators, ii) rigid-body model compensations, and iii) a lightweight design achieved through the use of Bowden cable transmissions and remotely placed actuators. Specifically, we present a semi-active upper-limb exoskeleton for which we demonstrate human- device interaction control and bilateral teleoperation with force- feedback, evaluated via simulation, in the lab and over the Internet. We also introduce a design for a future fully-active upper-limb exoskeleton with two contact force/torque sensors, for a dual-arm …

Authors

Alexander Toedtheide,Xiao Chen,Hamid Sadeghian,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/5/29

Influence of robot motion and human factors on users' perceived safety in HRI

Besides the human physical safety also their perceived safety need to be taken into account in human-robot interaction (HRI). For this reason, the Expectable Motion Unit (EMU) concept was developed, a velocity scaling scheme relating the robot speed and instantaneous human-robot distance to the occurrence of human startle or surprise reactions. Since the perception of safety is highly subjective, the warranty of the EMU concept is expected to be dependent on human factors. Thus, human factors may be incorporated in the concept. Building up on the previous robot-focused analyses of the EMU, in this paper, we analyze the influence of human factors on perceived safety in robot approaching scenarios including 29 participants without the application of the EMU concept as well as in the same scenario with 15 participants under the application of the EMU concept. We report that the influence of …

Authors

Simone Nertinger,Robin Jeanne Kirschner,Saeed Abdolshah,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/6/5

Anthropomorphic Grasping with Neural Object Shape Completion

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity when handling objects. Such dexterity seems to derive from a robust understanding of object properties (such as weight, size, and shape), as well as a remarkable capacity to interact with them. Hand postures commonly demonstrate the influence of specific regions on objects that need to be grasped, especially when objects are partially visible. In this work, we leverage human-like object understanding by reconstructing and completing their full geometry from partial observations, and manipulating them using a 7-DoF anthropomorphic robot hand. Our approach has significantly improved the grasping success rates of baselines with only partial reconstruction by nearly 30% and …

Authors

Diego Hidalgo-Carvajal,Hanzhi Chen,Gemma C Bettelani,Jaesug Jung,Melissa Zavaglia,Laura Busse,Abdeldjallil Naceri,Stefan Leutenegger,Sami Haddadin

Journal

IEEE Robotics and Automation Letters

Published Date

2023/10/4

A Concise Overview of Safety Aspects in Human-Robot Interaction

As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a multi-layered safety architecture, integrating both physical and cognitive aspects for effective HRI. We outline critical requirements for physical safety layers as service modules that can be arbitrarily queried. Further, we showcase an HRI scheme that addresses human factors and perceived safety as high-level constraints on a validated impact safety paradigm. The aim is to enable safety certification of human-friendly robots across various HRI scenarios.

Authors

Mazin Hamad,Simone Nertinger,Robin J Kirschner,Luis Figueredo,Abdeldjallil Naceri,Sami Haddadin

Published Date

2023/9/20

End-to-End from human hand synergies to robot hand tendon routing

The human hand capabilities are paramount for highly dexterous manipulation interactions. Unfortunately, the limitations of current technologies make replicating such capabilities unfeasible. Although several works have focused on directly attempting to create robot hands able to mimic human ones closely, few of them have attempted to create generalizable platforms, where robotic hand mechanisms can be iteratively selected and customized to different tasks. In order to build highly dexterous robotic hands in the future, it is crucial to understand not only human manipulation, but also develop methods to leverage robotic mechanisms limitations to mimic human hand interactions accurately. In this letter, we propose an end-to-end framework capable of generating underactuated tendon routings that allow a generic robot hand model to reproduce desired observed human grasp motion synergies accurately. Our …

Authors

Diego Hidalgo-Carvajal,Christopher Herneth,Abdeldjallil Naceri,Sami Haddadin

Journal

IEEE Robotics and Automation Letters

Published Date

2022

Object-centric grasping transferability: Linking meshes to postures

Attaining human hand manipulation capabilities is a sought-after goal of robotic manipulation. Several works have focused on understanding and applying human manipulation insights in robotic applications. However, few considered objects as central pieces to increase the generalization properties of existing methods. In this study, we explore context-based grasping information transferability between objects by using mesh-based object representations. To do so, we empirically labeled, in a mesh point-wise manner, 10 grasping postures onto a set of 12 purposely selected objects. Subsequently, we trained our convolutional neural network (CNN) based architecture with the mesh representation of a single object, associating grasping postures to its local regions. We tested our network across multiple objects of distinct similarity values. Results show that our network can successfully estimate non-feasible …

Authors

Diego Hidalgo-Carvajal,Carlos Magno CO Valle,Abdeldjallil Naceri,Sami Haddadin

Published Date

2022/11/28

Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study

The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to overcome this problem using robot-assisted telediagnostics, which allows medical experts to examine patients from distance. The designed telediagnostic system consists of two robotic arms. Each robot is located at the doctor and patient sites. Such a system enables the doctor to have a direct conversation via telepresence and to examine patients through robot-assisted inspection (guided tactile and audiovisual contact). The proposed bilateral teleoperation system is redundant in terms of teleoperation control algorithms and visual feedback. Specifically, we implemented two main control modes: joint-based and displacement-based teleoperation. The joint-based mode …

Authors

Abdeldjallil Naceri,Jean Elsner,Mario Tröbinger,Hamid Sadeghian,Lars Johannsmeier,Florian Voigt,Xiao Chen,Daniela Macari,Christoph Jähne,Maximilian Berlet,Jonas Fuchtmann,Luis Figueredo,Hubertus Feußner,Dirk Wilhelm,Sami Haddadin

Journal

IEEE Robotics and Automation Letters

Published Date

2022/7/18

Acceptance of remote assistive robots with and without human-in-the-loop for healthcare applications

Assistive social robots aim to facilitate outpatient-care including required safety critical measures. Accepting a robot to perform such measures, e.g., operate in close physical interaction for medical examinations, requires human trust towards the robot. Human-in-the-loop (HIL) applications where the robot is teleoperated by a human expert can help the person to accept even risky tasks performed by a robot. Therefore, the assistive humanoid GARMI was designed to enable HIL applications with varying autonomy. In this study, we use GARMI to understand which tasks in the framework of care may be accepted depending on human socio-demographics and user beliefs as well as the level of robot autonomy. Firstly, we seek to understand the general acceptance of GARMI using the Almere questionnaire. Secondly, we ask adults to rate their willingness to use several functionalities of GARMI. Lastly, we investigate …

Authors

Simone Nertinger,Robin Jeanne Kirschner,Abdeldjallil Naceri,Sami Haddadin

Journal

International Journal of Social Robotics

Published Date

2022/10/25

PARTI-a haptic virtual reality control station for model-mediated robotic applications

In this paper, we introduce a tele-robotic station called PARTI that leverages state-of-the-art robotics and virtual reality technology to enable immersive haptic interaction with simulated and remote environments through robotic avatars. Our hardware-in-the-loop framework integrates accurate multibody system dynamics and frictional contacts with digital twins of our robots in a virtual environment with real-time computational capabilities. This model mediated hardware-in-the-loop approach to robotic control allows a teleoperator to use the PARTI system to teach, evaluate, and control various robotic applications. In the current contribution, we focus on the general system description, integrated simulation and control framework, and a series of experiments highlighting the advantages of our approach.

Authors

Jean Elsner,Gerhard Reinerth,Luis Figueredo,Abdeldjallil Naceri,Ulrich Walter,Sami Haddadin

Journal

Frontiers in Virtual Reality

Published Date

2022

Mensch-Roboter-Interaktion: vernetzte, lernfähige Maschinen in der Medizin

Der Einsatz intelligenter Roboter und anderer KI-Technologien im Gesundheitswesen hat in den letzten Jahren stark zugenommen. Die Fortschritte im Bereich Leichtbauroboter und taktile Roboter bieten eine große Chance für eine breite Palette von Anwendungen, von der medizinischen Untersuchung, Diagnose und therapeutischen Verfahren bis hin zur Rehabilitation und Assistenzrobotern. Indem sie die komplementären Stärken von Menschen und computerbasierten Technologien nutzen, sind die derzeitig verfügbaren Verfahren sogar potenziell überlegen. Ziel des Artikels ist es, die Bedeutung der Mensch-Roboter-Interaktion in diesen Kontexten herauszuarbeiten und dabei die technologischen Anforderungen und Herausforderungen bei der Entwicklung von menschenzentrierten …

Authors

Hamid Sadeghian,Abdeldjallil Naceri,Sami Haddadin

Journal

Laryngo-Rhino-Otologie

Published Date

2022/5

From human to robot grasping: force and kinematic synergies. An overview of human to robotic capabilities: Close comparison between human and robotic hands in both force and …

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Authors

Abdeldjallil Naceri,Nicolò Boccardo,Lorenzo Lombardi,Andrea Marinelli,Diego Hidalgo,Sami Haddadin,Matteo Laffranchi,Lorenzo De Michieli

Published Date

2022

The Vicarios Virtual Reality Interface for Remote Robotic Teleoperation: Teleporting for Intuitive Tele-manipulation

Intuitive interaction is the cornerstone of accurate and effective performance in remote robotic teleoperation. It requires high-fidelity in control actions as well as perception (vision, haptic, and other sensory feedback) of the remote environment. This paper presents Vicarios, a Virtual Reality (VR) based interface with the aim of facilitating intuitive real-time remote teleoperation, while utilizing the inherent benefits of VR, including immersive visualization, freedom of user viewpoint selection, and fluidity of interaction through natural action interfaces. Vicarios aims to enhance the situational awareness, using the concept of viewpoint-independent mapping between the operator and the remote scene, thereby giving the operator better control in the perception-action loop. The article describes the overall system of Vicarios, with its software, hardware, and communication framework. A comparative user study …

Authors

Abdeldjallil Naceri,Dario Mazzanti,Joao Bimbo,Yonas T Tefera,Domenico Prattichizzo,Darwin G Caldwell,Leonardo S Mattos,Nikhil Deshpande

Journal

Journal of Intelligent & Robotic Systems

Published Date

2021/4

Learning optimal impedance control during complex 3D arm movements

Humans use their limbs to perform various movements to interact with an external environment. Thanks to limb's variable and adaptive stiffness, humans can adapt their movements to the external unstable dynamics. The underlying adaptive mechanism has been investigated, employing a simple planar device perturbed by external 2D force patterns. In this work, we will employ a more advanced, compliant robot arm to extend previous work to a more realistic 3D-setting. We study the adaptive mechanism and use machine learning to capture the human adaptation behavior. In order to model human's stiffness adaptive skill, we give human subjects the task to reach for a target by moving a handle assembled on the end-effector of a compliant robotic arm. The arm is force controlled and the human is required to navigate the handle inside a non-visible, virtual maze and explore it only through robot force feedback when …

Authors

Helge Joachim Ritter Abdeldjallil Naceri,Tobias Schumacher,Qiang Li,Sylvain Calinon

Journal

IEEE Robotics and Automation Letters

Published Date

2021

Role of tactile noise in the control of digit normal force

Whenever we grasp and lift an object, our tactile system provides important information on the contact location and the force exerted on our skin. The human brain integrates signals from multiple sites for a coherent representation of object shape, inertia, weight, and other material properties. It is still an open question whether the control of grasp force occurs at the level of individual fingers or whether it is also influenced by the control and the signals from the other fingers of the same hand. In this work, we approached this question by asking participants to lift, transport, and replace a sensorized object, using three- and four-digit grasp. Tactile input was altered by covering participant's fingertips with a rubber thimble, which reduced the reliability of the tactile sensory input. In different experimental conditions, we covered between one and three fingers opposing the thumb. Normal forces at each finger and the thumb were recorded while grasping and holding the object, with and without the thimble. Consistently with previous studies, reducing tactile sensitivity increased the overall grasping force. The gasping force increased in the covered finger, whereas it did not change from baseline in the remaining bare fingers (except the thumb for equilibrium constraints). Digit placement and object tilt were not systematically affected by rubber thimble conditions. Our results suggest that, in each finger opposing thumb, digit normal force is controlled locally in response to the applied tactile perturbation.

Authors

Abdeldjallil Naceri,Yasemin B Gultekin,Alessandro Moscatelli,Marc O Ernst

Journal

Frontiers in Psychology

Published Date

2021/2/12

New Method for Surgical Diagnostics-a Robotic Telemedical Approach.

Apart from the tremendous increase in the demand for telemedicine during the COVID-19 pandemic, the use of telemedical technology offers many advantages, such as better coverage of rural areas and improved access to specialists. While current telediagnostic possibilities are often limited to a verbal consultation, the field of surgery has already made use of robotics for one of the most challenging areas of medicine: invasive procedures. Since comprehensive diagnostics are a prerequisite for each surgery, we built upon the knowledge gained in telesurgery and developed a telediagnostic system that allows for an extensive perioperative and emergency examination. It is based on a robotic platform consisting of a remote lead robotic arm at the physician's site and a follower robot at the patient's site. Mirroring all movements directly and using force-feedback, both parties can precisely interact, enabling tasks such as auscultation, percussion, and palpation without the need for extensive training. Our overall setup also includes the possibility to measure and monitor all relevant vital parameters and can be used to perform ear and nasopharyngeal inspections as well as an automatic swab to screen for COVID or other contagious diseases prior to hospital admission. In this paper, we focus on the potential of this technology for the surgical community by demonstrating the ease of adding an ultrasound probe to our modular setup to perform a high-quality emergency ultrasound examination. While the system is not yet ready for everyday use in a hospital and drawbacks such as a high cost persist, our setup paves the way for the future use of …

Authors

Jonas Fuchtmann,Roman Krumpholz,Daniel Ostler,Abdeldjallil Naceri,Daniela Macari,Sami Haddadin,Dirk Wilhelm,Hubertus Feussner,Maximilian Berlet

Journal

Surgical Technology International

Published Date

2021/11/1

A dual doctor-patient twin paradigm for transparent remote examination, diagnosis, and rehabilitation

The need for comprehensive telemedicine solutions is becoming increasingly relevant due to challenges associated with the ageing population, the increasing shortage of health-care providers, and, more recently, the global pandemic. Existing solutions primarily focus on, e.g., electronic medical records, audiovisual connections, and, in some cases, robotic systems with very basic capabilities. Here we present a fundamentally new, holistic approach to a remote doctor visit, which enables transparent remote examination, anomaly detection, diagnosis, and rehabilitation. Our dual doctor-patient twin paradigm involves two robotic systems: one representing the doctor to the patient ("GARMI") and one representing the patient to the doctor ("MUCKI"). Through bidirectional telepresence control, this system enables transparent, natural, remote haptic interaction between doctor and patient. The control, interaction, and …

Authors

Mario Tröbinger,Andrei Costinescu,Hao Xing,Jean Elsner,Tingli Hu,Abdeldjallil Naceri,Luis Figueredo,Elisabeth Jensen,Darius Burschka,Sami Haddadin

Published Date

2021/9/27

The Hannes hand prosthesis replicates the key biological properties of the human hand

Replacing the human hand with artificial devices of equal capability and effectiveness is a long-standing challenge. Even the most advanced hand prostheses, which have several active degrees of freedom controlled by the electrical signals of the stump’s residual muscles, do not achieve the complexity, dexterity, and adaptability of the human hand. Thus, prosthesis abandonment rate remains high due to poor embodiment. Here, we report a prosthetic hand called Hannes that incorporates key biomimetic properties that make this prosthesis uniquely similar to a human hand. By means of an holistic design approach and through extensive codevelopment work involving researchers, patients, orthopaedists, and industrial designers, our proposed device simultaneously achieves accurate anthropomorphism, biomimetic performance, and human-like grasping behavior that outperform what is required in the execution …

Authors

Matteo Laffranchi,Nicolo Boccardo,Simone Traverso,Lorenzo Lombardi,Michele Canepa,Andrea Lince,Marianna Semprini,Jody A Saglia,Abdeldjallil Naceri,Rinaldo Sacchetti,Emanuele Gruppioni,Lorenzo De Michieli

Journal

Science robotics

Published Date

2020/9/23

See List of Professors in Abdeldjallil Naceri University(Technische Universität München)

Abdeldjallil Naceri FAQs

What is Abdeldjallil Naceri's h-index at Technische Universität München?

The h-index of Abdeldjallil Naceri has been 11 since 2020 and 12 in total.

What are Abdeldjallil Naceri's top articles?

The articles with the titles of

Toward telemedical diagnostics—clinical evaluation of a robotic examination system for emergency patients

Exploring Motor Skill Acquisition in Bimanual Coordination: Insights from Navigating a Novel Maze Task

Autonomous swab robot for naso-and oropharyngeal COVID-19 screening

Virtual reality-based framework for service robotics: Data monitoring and recording during rehabilitation scenarios

Data Recording for Responsible Robotics

I2mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction

Identifying requirements for the implementation of robot-assisted physical therapy in humanoids: A user-centered design approach

A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud

...

are the top articles of Abdeldjallil Naceri at Technische Universität München.

What are Abdeldjallil Naceri's research interests?

The research interests of Abdeldjallil Naceri are: Human and robot grasping, human robot interaction, telerobotics, digital twins & VR

What is Abdeldjallil Naceri's total number of citations?

Abdeldjallil Naceri has 540 citations in total.

What are the co-authors of Abdeldjallil Naceri?

The co-authors of Abdeldjallil Naceri are Helge Ritter, Sami Haddadin, Marc O. Ernst, Marco Santello, Robert Haschke, ryad chellali.

    Co-Authors

    H-index: 65
    Helge Ritter

    Helge Ritter

    Universität Bielefeld

    H-index: 57
    Sami Haddadin

    Sami Haddadin

    Technische Universität München

    H-index: 47
    Marc O. Ernst

    Marc O. Ernst

    Universität Ulm

    H-index: 42
    Marco Santello

    Marco Santello

    Arizona State University

    H-index: 29
    Robert Haschke

    Robert Haschke

    Universität Bielefeld

    H-index: 23
    ryad chellali

    ryad chellali

    Nanjing Tech University

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