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Designing Ethical Social Robots - A Longitudinal Field Study with Older Adults (2020)
Journal Article
Van Maris, A., Zook, N., Caleb-Solly, P., Studley, M., Winfield, A., & Dogramadzi, S. (in press). Designing Ethical Social Robots - A Longitudinal Field Study with Older Adults. Frontiers in Robotics and AI, https://doi.org/10.3389/frobt.2020.00001

Emotional deception and emotional attachment are regarded as ethical concerns in human robot interaction. Considering these concerns is essential, particularly as little is known about longitudinal effects of interactions with social robots. We ran a... Read More about Designing Ethical Social Robots - A Longitudinal Field Study with Older Adults.

The use of different feedback modalities and verbal collaboration in tele-robotic assistance (2019)
Conference Proceeding
Bolarinwa, J., Eimontaite, I., Dogramadzi, S., Mitchell, T., & Caleb-Solly, P. (2019). The use of different feedback modalities and verbal collaboration in tele-robotic assistance. https://doi.org/10.1109/rose.2019.8790412

This paper explores the effects of different feedback modalities (gripper orientation via peripheral (side) vision and haptic feedback) and verbal collaboration with the service-user on the performance of tele-operators in completing a tele-robotic a... Read More about The use of different feedback modalities and verbal collaboration in tele-robotic assistance.

Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks (2019)
Journal Article
Abeywardena, S., Qiaodi, Y., Tzemanaki, A., Psomopoulou, E., Droukas, L., Melhuish, C., & Dogramadzi, S. (in press). Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks. Frontiers in Robotics and AI, 6, https://doi.org/10.3389/frobt.2019.00056

A new algorithm is proposed to estimate the tool-tissue force interaction in robot-assisted minimally invasive surgery which does not require the use of external force sensing. The proposed method utilizes the current of the motors of the surgical in... Read More about Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks.

Requirements elicitation for robotic and computer-assisted minimally invasive surgery (2019)
Journal Article
Nakawala, H., De Momi, E., Tzemanaki, A., Dogramadzi, S., Russo, A., Catellani, M., …Ferrigno, G. (2019). Requirements elicitation for robotic and computer-assisted minimally invasive surgery. International Journal of Advanced Robotic Systems, 16(4), 172988141986580. https://doi.org/10.1177/1729881419865805

The robotic surgical systems and computer-assisted technologies market has seen impressive growth over the last decades, but uptake by end-users is still scarce. The purpose of this article is to provide a comprehensive and informed list of the end-u... Read More about Requirements elicitation for robotic and computer-assisted minimally invasive surgery.

Motion Capture Pillow (MCP): A novel method to improve comfort and accuracy in radiotherapy (2019)
Journal Article
Goldsworthy, S., McNair, H., & Dogramadzi, S. (in press). Motion Capture Pillow (MCP): A novel method to improve comfort and accuracy in radiotherapy. Clinical Medicine, 19(Suppl2), 103-103. https://doi.org/10.7861/clinmedicine.19-2-s103

The delivery of radiotherapy has changed significantly over the last few decades. Recent advances in radiotherapy practice may increase patient discomfort. A key challenge to improve patient comfort is the common use of a thermoplastic mask for patien... Read More about Motion Capture Pillow (MCP): A novel method to improve comfort and accuracy in radiotherapy.

Social robots: The influence of human and robot characteristics on acceptance (2019)
Journal Article
Bishop, L., van Maris, A., Dogramadzi, S., & Zook, N. (2019). Social robots: The influence of human and robot characteristics on acceptance. Paladyn, 10(1), 346-358. https://doi.org/10.1515/pjbr-2019-0028

Research in social robotics is focused on the development of robots that can provide physical and cognitive support in a socially interactive way. Whilst some studies have previously investigated the importance of user characteristics (age, gender, e... Read More about Social robots: The influence of human and robot characteristics on acceptance.

Real-time electromagnetic tracking of orthopaedic pins for robot-assisted fracture surgery (2018)
Presentation / Conference
Martins, B., Dagnino, G., & Dogramadzi, S. (2018, September). Real-time electromagnetic tracking of orthopaedic pins for robot-assisted fracture surgery. Presented at Computer and Robot Assisted Surgery (CRAS)

Tracking devices are an essential component in image guided surgery particularly when precise treatment or implant positioning are required. In this paper we explore the use of an electromagnetic tracking device (Polaris Aurora, NDI Inc.) as an alter... Read More about Real-time electromagnetic tracking of orthopaedic pins for robot-assisted fracture surgery.

'Elbows Out' - Predictive tracking of partially occluded pose for Robot-Assisted dressing (2018)
Journal Article
Chance, G., Jevtic, A., Caleb-Solly, P., Alenya, G., Torras, C., & Dogramadzi, S. (2018). 'Elbows Out' - Predictive tracking of partially occluded pose for Robot-Assisted dressing. IEEE Robotics and Automation Letters, 3(4), 3598-3605. https://doi.org/10.1109/LRA.2018.2854926

© 2016 IEEE. Robots that can assist in the activities of daily living, such as dressing, may support older adults, addressing the needs of an aging population in the face of a growing shortage of care professionals. Using depth cameras during robot-a... Read More about 'Elbows Out' - Predictive tracking of partially occluded pose for Robot-Assisted dressing.

Exploiting ability for human adaptation to facilitate improved human-robot interaction and acceptance (2018)
Journal Article
Caleb-Solly, P., Dogramadzi, S., Huijnen, C. A., & van den Heuvel, H. (2018). Exploiting ability for human adaptation to facilitate improved human-robot interaction and acceptance. Information Society, 34(3), 153-165. https://doi.org/10.1080/01972243.2018.1444255

© Praminda Caleb-Solly, Sanja Dogramadzi, Claire A.G.J. Huijnen, and Herjan van den Heuvel. This article reports findings from a usability and user experience evaluations conducted in the last 2 years of a 4-year assistive robotics research project u... Read More about Exploiting ability for human adaptation to facilitate improved human-robot interaction and acceptance.

Robot-Assisted Fracture Surgery: Surgical Requirements and System Design (2018)
Journal Article
Georgilas, I., Dagnino, G., Tarassoli, P., Atkins, R., & Dogramadzi, S. (2018). Robot-Assisted Fracture Surgery: Surgical Requirements and System Design. Annals of Biomedical Engineering, 46(10), 1637-1649. https://doi.org/10.1007/s10439-018-2005-y

© 2018, Biomedical Engineering Society. The design of medical devices is a complex and crucial process to ensure patient safety. It has been shown that improperly designed devices lead to errors and associated accidents and costs. A key element for a... Read More about Robot-Assisted Fracture Surgery: Surgical Requirements and System Design.

Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment (2018)
Journal Article
Tzemanaki, A., Al, G. A., Melhuish, C., & Dogramadzi, S. (2018). Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment. Frontiers in Robotics and AI, 5(JUN), 1-15. https://doi.org/10.3389/frobt.2018.00062

© 2018 Tzemanaki, Al, Melhuish and Dogramadzi. This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit... Read More about Design of a wearable fingertip haptic device for remote palpation: Characterisation and interface with a virtual environment.

Personalized robot assistant for support in dressing (2018)
Journal Article
Jevtic, A., Valle, A. F., Alenya, G., Chance, G., Caleb-Solly, P., Dogramadzi, S., & Torras, C. (2018). Personalized robot assistant for support in dressing. IEEE Transactions on Cognitive and Developmental Systems, https://doi.org/10.1109/TCDS.2018.2817283

Robot-assisted dressing is performed in close physical interaction with users who may have a wide range of physical characteristics and abilities. Design of user adaptive and personalized robots in this context is still indicating limited, or no cons... Read More about Personalized robot assistant for support in dressing.

Upper limb motion intent recognition using tactile sensing (2017)
Conference Proceeding
Stefanou, T., Turton, A., Lenz, A., & Dogramadzi, S. (2017). Upper limb motion intent recognition using tactile sensing. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6601-6608. https://doi.org/10.1109/IROS.2017.8206573

Focusing on upper limb rehabilitation of weak stroke patients, this pilot study explores how motion intent can be detected using force sensitive resistors (FSR). This is part of a bigger project which will see the actuation and control of an intent-d... Read More about Upper limb motion intent recognition using tactile sensing.

What's up?-Resolving interaction ambiguity through non-visual cues for a robotic dressing assistant (2017)
Conference Proceeding
Chance, G., Caleb-Solly, P., Jevtic, A., & Dogramadzi, S. (2017). What's up?-Resolving interaction ambiguity through non-visual cues for a robotic dressing assistant. In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), (284-291). https://doi.org/10.1109/ROMAN.2017.8172315

© 2017 IEEE. Robots that can assist in activities of daily living (ADL) such as dressing assistance, need to be capable of intuitive and safe interaction. Vision systems are often used to provide information on the position and movement of the robot... Read More about What's up?-Resolving interaction ambiguity through non-visual cues for a robotic dressing assistant.

A Pilot Study Evaluating the Effectiveness of Dual-Registration Image-Guided Radiotherapy in Patients with Oropharyngeal Cancer (2017)
Journal Article
Goldsworthy, S., Dakers, M., Higgins, S., Barnes, T., Jankowska, P., Dogramadzi, S., & Latour, J. M. (2017). A Pilot Study Evaluating the Effectiveness of Dual-Registration Image-Guided Radiotherapy in Patients with Oropharyngeal Cancer. Journal of Medical Imaging and Radiation Sciences, 48(4), 377-384. https://doi.org/10.1016/j.jmir.2017.09.004

© 2017 Canadian Association of Medical Radiation Technologists Purpose The purpose of the article was to determine the impact of Dual Registration (DR) image-guided radiotherapy (IGRT) on clinical judgement and treatment delivery for patients with or... Read More about A Pilot Study Evaluating the Effectiveness of Dual-Registration Image-Guided Radiotherapy in Patients with Oropharyngeal Cancer.

Image-Guided Surgical Robotic System for Percutaneous Reduction of Joint Fractures (2017)
Journal Article
Dagnino, G., Georgilas, I., Morad, S., Gibbons, P., Tarassoli, P., Atkins, R., & Dogramadzi, S. (2017). Image-Guided Surgical Robotic System for Percutaneous Reduction of Joint Fractures. Annals of Biomedical Engineering, 45(11), 2648-2662. https://doi.org/10.1007/s10439-017-1901-x

© 2017, The Author(s). Complex joint fractures often require an open surgical procedure, which is associated with extensive soft tissue damages and longer hospitalization and rehabilitation time. Percutaneous techniques can potentially mitigate these... Read More about Image-Guided Surgical Robotic System for Percutaneous Reduction of Joint Fractures.

Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery (2017)
Journal Article
Dagnino, G., Georgilas, I., Morad, S., Gibbons, P., Tarassoli, P., Atkins, R., & Dogramadzi, S. (2017). Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery. International Journal of Computer Assisted Radiology and Surgery, 12(8), 1383-1397. https://doi.org/10.1007/s11548-017-1602-9

© 2017, The Author(s). Purpose: Joint fractures must be accurately reduced minimising soft tissue damages to avoid negative surgical outcomes. To this regard, we have developed the RAFS surgical system, which allows the percutaneous reduction of intr... Read More about Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery.

Motion Capture Pillow shows potential to replace thermoplastic masks in H&N radiotherapy (2017)
Journal Article
Goldsworthy, S., Dapper, T., Griffiths, G., Morgan, A., Mccormack, S., & Dogramadzi, S. (2017). Motion Capture Pillow shows potential to replace thermoplastic masks in H&N radiotherapy. Radiotherapy and Oncology, 123(S1), S39-S40. https://doi.org/10.1016/S0167-8140%2817%2930520-0

Purpose A key challenge to improve patient comfort is the common use of a thermoplastic mask for patients with head and neck cancers. Patients suffer from discomfort and the claustrophobic effect of the mask, or, as they lose soft tissue due to tre... Read More about Motion Capture Pillow shows potential to replace thermoplastic masks in H&N radiotherapy.

A quantitative analysis of dressing dynamics for robotic dressing assistance (2017)
Journal Article
Chance, G., Jevtić, A., Caleb-Solly, P., & Dogramadzi, S. (2017). A quantitative analysis of dressing dynamics for robotic dressing assistance. Frontiers in Robotics and AI, 4(MAY), https://doi.org/10.3389/frobt.2017.00013

© 2017 Chance, Jevtić, Caleb-Solly and Dogramadzi. Assistive robots have a great potential to address issues related to an aging population and an increased demand for caregiving. Successful deployment of robots working in close proximity with people... Read More about A quantitative analysis of dressing dynamics for robotic dressing assistance.

Safe human–robot interaction in medical robotics: A case study on robotic fracture surgery system (2017)
Journal Article
Georgilas, I., Dagnino, G., & Dogramadzi, S. (2017). Safe human–robot interaction in medical robotics: A case study on robotic fracture surgery system. https://doi.org/10.1142/S2424905X17400086

This paper presents a safety analysis of a Robotic Fracture Surgery System using the Systems-Theoretic Process Analysis (STPA). It focuses particularly on hazards caused by the human in the loop. The robotic system and operating staff are modeled inc... Read More about Safe human–robot interaction in medical robotics: A case study on robotic fracture surgery system.