Sort By
Publication Year
Deposit Date
Title
Type
Access
Publication Year
2019 (4)
2018 (7)
2017 (3)
2016 (4)
2015 (2)
2014 (2)
2013 (6)
2012 (4)

Research and development of ambient-intelligent service robots with anthropomorphic characteristics

Link to this page

info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35003/RS//

Research and development of ambient-intelligent service robots with anthropomorphic characteristics (en)
Истраживање и развој амбијентално интелигентних сервисних робота антропоморфних карактеристика (sr)
Istraživanje i razvoj ambijentalno inteligentnih servisnih robota antropomorfnih karakteristika (sr_RS)
Authors

Publications

FES of Upper Extremities: Post-conference course

Popović, Dejan B.; Popović Maneski, Lana

(Vienna : Medical University of Vienna, 2019)

TY  - CONF
AU  - Popović, Dejan B.
AU  - Popović Maneski, Lana
PY  - 2019
UR  - http://dais.sanu.ac.rs/123456789/6982
AB  - The workshop is structured to have a theoretical introduction and subsequent application oriented hands-on demonstrations. The workshop is planned to include continuous interactive discussion. The workshop will focus on non-invasive options for the control of paralyzed arm-hand complex after the central nervous system lesion (brain lesion, cervical lesion of the spinal cord, and similar). The workshop starts with theory describing the principle of the operation of functional activation of paralyzed muscles by means of electrical field and differences between the use of transcutaneous and implantable technologies. The results on the efficacy of FES augmented manipulation and grasping, with the emphasis on what were the limitations of the systems applied, will follow. The main questions that will be answered deal with methods to provide sufficient selectivity, minimize muscle fatigue, and have the control that matches the needs of users. The practical part will be a demonstration of the strategies and limitations of the surface activation of arm muscles to support the exercise, manipulation and exercise. The presentation will include the activation of sensory pathways for possible feedback applications. An interesting example will be described where the FES technology can be used for the reduction of tremor. The practical part will be with the new stimulators MOTIMOVE (https://www.3-x-f.com/products.php) and UNAFET stimulators used in clinical trials for therapy persons after stroke and spinal cord lesion at the cervical level.
PB  - Vienna : Medical University of Vienna
C3  - Program / 13th Vienna International Workshop on Functional Electrical Stimulation, Vienna, Austria, September 23rd-25th, 2019
T1  - FES of Upper Extremities: Post-conference course
ER  - 
@conference{
author = "Popović, Dejan B. and Popović Maneski, Lana",
year = "2019",
url = "http://dais.sanu.ac.rs/123456789/6982",
abstract = "The workshop is structured to have a theoretical introduction and subsequent application oriented hands-on demonstrations. The workshop is planned to include continuous interactive discussion. The workshop will focus on non-invasive options for the control of paralyzed arm-hand complex after the central nervous system lesion (brain lesion, cervical lesion of the spinal cord, and similar). The workshop starts with theory describing the principle of the operation of functional activation of paralyzed muscles by means of electrical field and differences between the use of transcutaneous and implantable technologies. The results on the efficacy of FES augmented manipulation and grasping, with the emphasis on what were the limitations of the systems applied, will follow. The main questions that will be answered deal with methods to provide sufficient selectivity, minimize muscle fatigue, and have the control that matches the needs of users. The practical part will be a demonstration of the strategies and limitations of the surface activation of arm muscles to support the exercise, manipulation and exercise. The presentation will include the activation of sensory pathways for possible feedback applications. An interesting example will be described where the FES technology can be used for the reduction of tremor. The practical part will be with the new stimulators MOTIMOVE (https://www.3-x-f.com/products.php) and UNAFET stimulators used in clinical trials for therapy persons after stroke and spinal cord lesion at the cervical level.",
publisher = "Vienna : Medical University of Vienna",
journal = "Program / 13th Vienna International Workshop on Functional Electrical Stimulation, Vienna, Austria, September 23rd-25th, 2019",
title = "FES of Upper Extremities: Post-conference course"
}
Popović, D. B.,& Popović Maneski, L. (2019). FES of Upper Extremities: Post-conference course.
Program / 13th Vienna International Workshop on Functional Electrical Stimulation, Vienna, Austria, September 23rd-25th, 2019Vienna : Medical University of Vienna..
Popović DB, Popović Maneski L. FES of Upper Extremities: Post-conference course. Program / 13th Vienna International Workshop on Functional Electrical Stimulation, Vienna, Austria, September 23rd-25th, 2019. 2019;
Popović Dejan B., Popović Maneski Lana, "FES of Upper Extremities: Post-conference course" (2019)

Wearable system for the gait assessment in stroke patients

Popović, Dejan; Topalović, Ivan; Dedijer Dujović, Suzana; Konstantinović, Ljubica

(Springer Nature Switzerland AG, 2019)

TY  - CONF
AU  - Popović, Dejan
AU  - Topalović, Ivan
AU  - Dedijer Dujović, Suzana
AU  - Konstantinović, Ljubica
PY  - 2019
UR  - http://dais.sanu.ac.rs/123456789/4669
AB  - The assessment of the motor performance is an essential component of rehabilitation of humans with a disability. The wearable system is a preferable solution compared to the laboratory-based instrumentation for the clinical use. We integrated a system which combines array electrodes over the muscles of interest connected to the 24-channel digital amplifier and the shoe insole with five robust pressure transducers and one inertial measurement unit per leg. The system sends signals wirelessly to a computer. The graphical interface is simple for usage and simple to interpret. The EMG patterns (muscle activities) and gait events are synchronized by the software. The EMG patterns are determined by cubic spline interpolation of data from 24-pads over the muscle. The gait events are estimated by fuzzy logics applied on the thresholds from signals coming from the insole. The system was tested and accepted by the therapist as a useful and easy clinical tool.
PB  - Springer Nature Switzerland AG
C3  - Converging Clinical and Engineering Research on Neurorehabilitation III : Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16–20, 2018, Pisa, Italy
T1  - Wearable system for the gait assessment in stroke patients
DO  - 10.1007/978-3-030-01845-0
ER  - 
@conference{
author = "Popović, Dejan and Topalović, Ivan and Dedijer Dujović, Suzana and Konstantinović, Ljubica",
year = "2019",
url = "http://dais.sanu.ac.rs/123456789/4669",
abstract = "The assessment of the motor performance is an essential component of rehabilitation of humans with a disability. The wearable system is a preferable solution compared to the laboratory-based instrumentation for the clinical use. We integrated a system which combines array electrodes over the muscles of interest connected to the 24-channel digital amplifier and the shoe insole with five robust pressure transducers and one inertial measurement unit per leg. The system sends signals wirelessly to a computer. The graphical interface is simple for usage and simple to interpret. The EMG patterns (muscle activities) and gait events are synchronized by the software. The EMG patterns are determined by cubic spline interpolation of data from 24-pads over the muscle. The gait events are estimated by fuzzy logics applied on the thresholds from signals coming from the insole. The system was tested and accepted by the therapist as a useful and easy clinical tool.",
publisher = "Springer Nature Switzerland AG",
journal = "Converging Clinical and Engineering Research on Neurorehabilitation III : Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16–20, 2018, Pisa, Italy",
title = "Wearable system for the gait assessment in stroke patients",
doi = "10.1007/978-3-030-01845-0"
}
Popović, D., Topalović, I., Dedijer Dujović, S.,& Konstantinović, L. (2019). Wearable system for the gait assessment in stroke patients.
Converging Clinical and Engineering Research on Neurorehabilitation III : Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16–20, 2018, Pisa, ItalySpringer Nature Switzerland AG..
https://doi.org/10.1007/978-3-030-01845-0
Popović D, Topalović I, Dedijer Dujović S, Konstantinović L. Wearable system for the gait assessment in stroke patients. Converging Clinical and Engineering Research on Neurorehabilitation III : Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16–20, 2018, Pisa, Italy. 2019;
Popović Dejan, Topalović Ivan, Dedijer Dujović Suzana, Konstantinović Ljubica, "Wearable system for the gait assessment in stroke patients" (2019),
https://doi.org/10.1007/978-3-030-01845-0 .
11
7

EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities

Popović Maneski, Lana; Topalović, Ivan

(Springer International Publishing, 2019)

TY  - CONF
AU  - Popović Maneski, Lana
AU  - Topalović, Ivan
PY  - 2019
UR  - http://dais.sanu.ac.rs/123456789/4592
AB  - Achieving the functional grasp by electrical stimulation using surface electrodes is a demanding task. The innervations of muscles come via ulnar, radial and median nerves. The anatomy of nerve branches connecting various muscles in the forearm differs significantly between individuals. We hypothesize that the anatomical differences between the paretic and nonparetic arms are minimal. Based on this assumption we developed a method where the differences of muscle activities (EMG) between the healthy and paretic arms recorded by the 24-contact electrode within an array define the target zones to be stimulated on the affected forearm. We used special electrode where magnetic contacts allow simple change of the stimulation pads. The examiner positions the magnetic contact on the pads where the EMG differences are maximal. The stimulator delivers asynchronous stimulation to the selected pads. We proved that the method is working in stroke patients by measuring joint angles and the grasping force. © 2019, Springer Nature Switzerland AG.
PB  - Springer International Publishing
C3  - Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018
T1  - EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities
SP  - 1003
EP  - 1007
VL  - 21
DO  - 10.1007/978-3-030-01845-0_201
ER  - 
@conference{
author = "Popović Maneski, Lana and Topalović, Ivan",
year = "2019",
url = "http://dais.sanu.ac.rs/123456789/4592",
abstract = "Achieving the functional grasp by electrical stimulation using surface electrodes is a demanding task. The innervations of muscles come via ulnar, radial and median nerves. The anatomy of nerve branches connecting various muscles in the forearm differs significantly between individuals. We hypothesize that the anatomical differences between the paretic and nonparetic arms are minimal. Based on this assumption we developed a method where the differences of muscle activities (EMG) between the healthy and paretic arms recorded by the 24-contact electrode within an array define the target zones to be stimulated on the affected forearm. We used special electrode where magnetic contacts allow simple change of the stimulation pads. The examiner positions the magnetic contact on the pads where the EMG differences are maximal. The stimulator delivers asynchronous stimulation to the selected pads. We proved that the method is working in stroke patients by measuring joint angles and the grasping force. © 2019, Springer Nature Switzerland AG.",
publisher = "Springer International Publishing",
journal = "Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018",
title = "EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities",
pages = "1003-1007",
volume = "21",
doi = "10.1007/978-3-030-01845-0_201"
}
Popović Maneski, L.,& Topalović, I. (2019). EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities.
Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018Springer International Publishing., 21, 1003-1007.
https://doi.org/10.1007/978-3-030-01845-0_201
Popović Maneski L, Topalović I. EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities. Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018. 2019;21:1003-1007
Popović Maneski Lana, Topalović Ivan, "EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities" 21 (2019):1003-1007,
https://doi.org/10.1007/978-3-030-01845-0_201 .
1
1

EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities

Popović Maneski, Lana; Topalović, Ivan

(Springer International Publishing, 2019)

TY  - CONF
AU  - Popović Maneski, Lana
AU  - Topalović, Ivan
PY  - 2019
UR  - http://dais.sanu.ac.rs/123456789/4654
AB  - Achieving the functional grasp by electrical stimulation using surface electrodes is a demanding task. The innervations of muscles come via ulnar, radial and median nerves. The anatomy of nerve branches connecting various muscles in the forearm differs significantly between individuals. We hypothesize that the anatomical differences between the paretic and nonparetic arms are minimal. Based on this assumption we developed a method where the differences of muscle activities (EMG) between the healthy and paretic arms recorded by the 24-contact electrode within an array define the target zones to be stimulated on the affected forearm. We used special electrode where magnetic contacts allow simple change of the stimulation pads. The examiner positions the magnetic contact on the pads where the EMG differences are maximal. The stimulator delivers asynchronous stimulation to the selected pads. We proved that the method is working in stroke patients by measuring joint angles and the grasping force. © 2019, Springer Nature Switzerland AG.
PB  - Springer International Publishing
C3  - Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018
T1  - EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities
SP  - 1003
EP  - 1007
DO  - 10.1007/978-3-030-01845-0_201
ER  - 
@conference{
author = "Popović Maneski, Lana and Topalović, Ivan",
year = "2019",
url = "http://dais.sanu.ac.rs/123456789/4654",
abstract = "Achieving the functional grasp by electrical stimulation using surface electrodes is a demanding task. The innervations of muscles come via ulnar, radial and median nerves. The anatomy of nerve branches connecting various muscles in the forearm differs significantly between individuals. We hypothesize that the anatomical differences between the paretic and nonparetic arms are minimal. Based on this assumption we developed a method where the differences of muscle activities (EMG) between the healthy and paretic arms recorded by the 24-contact electrode within an array define the target zones to be stimulated on the affected forearm. We used special electrode where magnetic contacts allow simple change of the stimulation pads. The examiner positions the magnetic contact on the pads where the EMG differences are maximal. The stimulator delivers asynchronous stimulation to the selected pads. We proved that the method is working in stroke patients by measuring joint angles and the grasping force. © 2019, Springer Nature Switzerland AG.",
publisher = "Springer International Publishing",
journal = "Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018",
title = "EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities",
pages = "1003-1007",
doi = "10.1007/978-3-030-01845-0_201"
}
Popović Maneski, L.,& Topalović, I. (2019). EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities.
Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018Springer International Publishing., 1003-1007.
https://doi.org/10.1007/978-3-030-01845-0_201
Popović Maneski L, Topalović I. EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities. Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018. 2019;:1003-1007
Popović Maneski Lana, Topalović Ivan, "EMG Map for Designing the Electrode Shape for Functional Electrical Therapy of Upper Extremities" (2019):1003-1007,
https://doi.org/10.1007/978-3-030-01845-0_201 .
1
1

Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy

Popović Maneski, Lana; Aleksić, Antonina; Metani, Amine; Bergeron, Vance; Čobeljić, Radoje; Popović, Dejan B.

(IEEE, 2018)

TY  - JOUR
AU  - Popović Maneski, Lana
AU  - Aleksić, Antonina
AU  - Metani, Amine
AU  - Bergeron, Vance
AU  - Čobeljić, Radoje
AU  - Popović, Dejan B.
PY  - 2018
UR  - http://dais.sanu.ac.rs/123456789/4653
AB  - Increased muscle tone and exaggerated tendon reflexes characterize most of the individuals after a spinal cord injury (SCI). We estimated seven parameters from the pendulum test and used them to compare with the Ashworth modified scale of spasticity grades in three populations (retrospective study) to assess their spasticity. Three ASIA B SCI patients who exercised on a stationary FES bicycle formed group F, six ASIA B SCI patients who received only conventional therapy were in the group C, and six healthy individuals constituted the group H. The parameters from the pendulum test were used to form a single measure, termed the PT score, for each subject. The pendulum test parameters show differences between the F and C groups, but not between the F and H groups, however, statistical significance was limited due to the small study size. Results show a small deviation from the mean for all parameters in the F group and substantial deviations from the mean for the parameters in the C group. PT scores show significant differences between the F and C groups and the C and H groups and no differences between the F and C groups. The correlation between the PT score and Ashworth score was 0.88. © 2017 IEEE.
PB  - IEEE
T2  - IEEE Transactions on Neural Systems and Rehabilitation Engineering
T1  - Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy
SP  - 181
EP  - 187
VL  - 26
IS  - 1
DO  - 10.1109/TNSRE.2017.2771466
ER  - 
@article{
author = "Popović Maneski, Lana and Aleksić, Antonina and Metani, Amine and Bergeron, Vance and Čobeljić, Radoje and Popović, Dejan B.",
year = "2018",
url = "http://dais.sanu.ac.rs/123456789/4653",
abstract = "Increased muscle tone and exaggerated tendon reflexes characterize most of the individuals after a spinal cord injury (SCI). We estimated seven parameters from the pendulum test and used them to compare with the Ashworth modified scale of spasticity grades in three populations (retrospective study) to assess their spasticity. Three ASIA B SCI patients who exercised on a stationary FES bicycle formed group F, six ASIA B SCI patients who received only conventional therapy were in the group C, and six healthy individuals constituted the group H. The parameters from the pendulum test were used to form a single measure, termed the PT score, for each subject. The pendulum test parameters show differences between the F and C groups, but not between the F and H groups, however, statistical significance was limited due to the small study size. Results show a small deviation from the mean for all parameters in the F group and substantial deviations from the mean for the parameters in the C group. PT scores show significant differences between the F and C groups and the C and H groups and no differences between the F and C groups. The correlation between the PT score and Ashworth score was 0.88. © 2017 IEEE.",
publisher = "IEEE",
journal = "IEEE Transactions on Neural Systems and Rehabilitation Engineering",
title = "Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy",
pages = "181-187",
volume = "26",
number = "1",
doi = "10.1109/TNSRE.2017.2771466"
}
Popović Maneski, L., Aleksić, A., Metani, A., Bergeron, V., Čobeljić, R.,& Popović, D. B. (2018). Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy.
IEEE Transactions on Neural Systems and Rehabilitation EngineeringIEEE., 26(1), 181-187.
https://doi.org/10.1109/TNSRE.2017.2771466
Popović Maneski L, Aleksić A, Metani A, Bergeron V, Čobeljić R, Popović DB. Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy. IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2018;26(1):181-187
Popović Maneski Lana, Aleksić Antonina, Metani Amine, Bergeron Vance, Čobeljić Radoje, Popović Dejan B., "Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy" 26, no. 1 (2018):181-187,
https://doi.org/10.1109/TNSRE.2017.2771466 .
8
6
10

Active hip orthosis for assisting the training of the gait in Hemiplegics

Popović, Dejan B.; Veg, Aleksandar

(Kragujevac : University of Kragujevac, Faculty of Science, 2018)

TY  - JOUR
AU  - Popović, Dejan B.
AU  - Veg, Aleksandar
PY  - 2018
UR  - http://dais.sanu.ac.rs/123456789/3705
AB  - The gait restoration is a significant component of the rehabilitation of patients with hemiplegia after central nervous system lesion. The typical symptom of the disability is the lack of hip extension during the stance phase and hip flexion during the swing phase of the affected leg; therefore, asymmetry and perturbed balance while walking. We developed a new modular orthosis for assisting hip flexion and extension during the therapeutic sessions of the gait in hemiplegic individuals based on thorough analysis of the gait characteristics of normal gait. The system is designed to fit into the powered postural controller Walkaround®. The system is developed based on the estimation of torque and power requirement for the gait at speeds up to 1.1 m/s. The model used for the simulation is a known double pendulum in the sagittal plane. The kinematics and dynamics used as the input for the simulation have been recorded in the gait laboratory with eight cameras and force platforms. The system needs to be clinically evaluated before it possibly can be turned into innovation. © 2018, University of Kragujevac, Faculty of Science.
PB  - Kragujevac : University of Kragujevac, Faculty of Science
T2  - Serbian Journal of Electrical Engineering
T1  - Active hip orthosis for assisting the training of the gait in Hemiplegics
SP  - 131
EP  - 143
VL  - 15
IS  - 2
DO  - 10.2298/SJEE171108007P
ER  - 
@article{
author = "Popović, Dejan B. and Veg, Aleksandar",
year = "2018",
url = "http://dais.sanu.ac.rs/123456789/3705",
abstract = "The gait restoration is a significant component of the rehabilitation of patients with hemiplegia after central nervous system lesion. The typical symptom of the disability is the lack of hip extension during the stance phase and hip flexion during the swing phase of the affected leg; therefore, asymmetry and perturbed balance while walking. We developed a new modular orthosis for assisting hip flexion and extension during the therapeutic sessions of the gait in hemiplegic individuals based on thorough analysis of the gait characteristics of normal gait. The system is designed to fit into the powered postural controller Walkaround®. The system is developed based on the estimation of torque and power requirement for the gait at speeds up to 1.1 m/s. The model used for the simulation is a known double pendulum in the sagittal plane. The kinematics and dynamics used as the input for the simulation have been recorded in the gait laboratory with eight cameras and force platforms. The system needs to be clinically evaluated before it possibly can be turned into innovation. © 2018, University of Kragujevac, Faculty of Science.",
publisher = "Kragujevac : University of Kragujevac, Faculty of Science",
journal = "Serbian Journal of Electrical Engineering",
title = "Active hip orthosis for assisting the training of the gait in Hemiplegics",
pages = "131-143",
volume = "15",
number = "2",
doi = "10.2298/SJEE171108007P"
}
Popović, D. B.,& Veg, A. (2018). Active hip orthosis for assisting the training of the gait in Hemiplegics.
Serbian Journal of Electrical EngineeringKragujevac : University of Kragujevac, Faculty of Science., 15(2), 131-143.
https://doi.org/10.2298/SJEE171108007P
Popović DB, Veg A. Active hip orthosis for assisting the training of the gait in Hemiplegics. Serbian Journal of Electrical Engineering. 2018;15(2):131-143
Popović Dejan B., Veg Aleksandar, "Active hip orthosis for assisting the training of the gait in Hemiplegics" 15, no. 2 (2018):131-143,
https://doi.org/10.2298/SJEE171108007P .

Influence of two weeks balance practice with feedback on the gait in hemiplegic patients

Milovanović, Jasmina; Gavrilović, Marija; Topalović, Ivan; Popović, Dejan

(ETRAN, 2018)

TY  - CONF
AU  - Milovanović, Jasmina
AU  - Gavrilović, Marija
AU  - Topalović, Ivan
AU  - Popović, Dejan
PY  - 2018
UR  - https://www.etran.rs/2018/IcETRAN/News/IcETRAN%20sumarni%20program%20sekcija_Ver.%204.3%20(1).pdf
UR  - http://dais.sanu.ac.rs/123456789/4631
AB  - We hypothesized that practicing balance with feedback will improve the gait in hemiplegic patients. The practice consisted of two weeks 30-minute long Wii-Fit balance board gaming. The gait analysis was based on ground reaction pressures (GRP) recorded with the custom designed insoles. The data were collected at 100 samples per second from two insoles, each comprising five pressure (force) sensors. The sensors communicated with the host computer by a WiFi link. Custom software was developed in Matlab for automatic segmentation of the GRP data into segments belonging to swing and stance phases of each step. The examiner could correct the automatic segmentation if necessary. The outputs from the program were: pressure vs. time from all sensors and standard gait data (cadence, symmetry index, etc.). The results show that the exercise of the function with feedback has positive effects on the gait performance. The exercise period was only two weeks, and the group was small and heterogeneous; hence, a more extensive study is required for proving the significance.
PB  - ETRAN
C3  - IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: Program
T1  - Influence of two weeks balance practice with feedback on the gait in hemiplegic patients
ER  - 
@conference{
author = "Milovanović, Jasmina and Gavrilović, Marija and Topalović, Ivan and Popović, Dejan",
year = "2018",
url = "https://www.etran.rs/2018/IcETRAN/News/IcETRAN%20sumarni%20program%20sekcija_Ver.%204.3%20(1).pdf, http://dais.sanu.ac.rs/123456789/4631",
abstract = "We hypothesized that practicing balance with feedback will improve the gait in hemiplegic patients. The practice consisted of two weeks 30-minute long Wii-Fit balance board gaming. The gait analysis was based on ground reaction pressures (GRP) recorded with the custom designed insoles. The data were collected at 100 samples per second from two insoles, each comprising five pressure (force) sensors. The sensors communicated with the host computer by a WiFi link. Custom software was developed in Matlab for automatic segmentation of the GRP data into segments belonging to swing and stance phases of each step. The examiner could correct the automatic segmentation if necessary. The outputs from the program were: pressure vs. time from all sensors and standard gait data (cadence, symmetry index, etc.). The results show that the exercise of the function with feedback has positive effects on the gait performance. The exercise period was only two weeks, and the group was small and heterogeneous; hence, a more extensive study is required for proving the significance.",
publisher = "ETRAN",
journal = "IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: Program",
title = "Influence of two weeks balance practice with feedback on the gait in hemiplegic patients"
}
Milovanović, J., Gavrilović, M., Topalović, I.,& Popović, D. (2018). Influence of two weeks balance practice with feedback on the gait in hemiplegic patients.
IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: ProgramETRAN..
Milovanović J, Gavrilović M, Topalović I, Popović D. Influence of two weeks balance practice with feedback on the gait in hemiplegic patients. IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: Program. 2018;
Milovanović Jasmina, Gavrilović Marija, Topalović Ivan, Popović Dejan, "Influence of two weeks balance practice with feedback on the gait in hemiplegic patients" (2018)

Pendulum test: Quantified assessment of the type and level of spasticity in persons with central nervous system lesions

Popović, Dejan B.; Bajd, Tadej

(Kragujevac : University of Kragujevac, Faculty of Science, 2018)

TY  - JOUR
AU  - Popović, Dejan B.
AU  - Bajd, Tadej
PY  - 2018
UR  - http://dais.sanu.ac.rs/123456789/3745
AB  - The development of a comprehensive computational model of the pendulum test which is appropriate for the analysis of the pathologic behavior of the leg in humans with the central nervous system (CNS) lesion is presented in this review. The model relates to the pendulum movement of the lower leg (shank and the foot) in the lateral plane due to the gravity and involuntary contractions of the muscles. The viscous damping and elastic stiffness reflect the soft tissues and friction in the knee joint. To quantify the pathologic activity of paralyzed muscles a reflex torque was added to the gravity generated knee joint torque. The knee joint encoder, accelerometers and gyroscopes positioned along the shank and thigh, and EMG amplifiers were used to acquire data for the illustration of the validity of the model. We show that the linear model of the movement of the lower leg is not a good representation of the motor impairment. We show that the model expanded with the reflex torque affecting the movement is well suited for the pendulum analysis. The timing of the reflex torques can be determined from the EMG recordings. © Serbian Journal of Electrical Engineering. 2018.
PB  - Kragujevac : University of Kragujevac, Faculty of Science
T2  - Serbian Journal of Electrical Engineering
T1  - Pendulum test: Quantified assessment of the type and level of spasticity in persons with central nervous system lesions
SP  - 1
EP  - 12
VL  - 15
IS  - 1
DO  - 10.2298/SJEE171204006P
ER  - 
@article{
author = "Popović, Dejan B. and Bajd, Tadej",
year = "2018",
url = "http://dais.sanu.ac.rs/123456789/3745",
abstract = "The development of a comprehensive computational model of the pendulum test which is appropriate for the analysis of the pathologic behavior of the leg in humans with the central nervous system (CNS) lesion is presented in this review. The model relates to the pendulum movement of the lower leg (shank and the foot) in the lateral plane due to the gravity and involuntary contractions of the muscles. The viscous damping and elastic stiffness reflect the soft tissues and friction in the knee joint. To quantify the pathologic activity of paralyzed muscles a reflex torque was added to the gravity generated knee joint torque. The knee joint encoder, accelerometers and gyroscopes positioned along the shank and thigh, and EMG amplifiers were used to acquire data for the illustration of the validity of the model. We show that the linear model of the movement of the lower leg is not a good representation of the motor impairment. We show that the model expanded with the reflex torque affecting the movement is well suited for the pendulum analysis. The timing of the reflex torques can be determined from the EMG recordings. © Serbian Journal of Electrical Engineering. 2018.",
publisher = "Kragujevac : University of Kragujevac, Faculty of Science",
journal = "Serbian Journal of Electrical Engineering",
title = "Pendulum test: Quantified assessment of the type and level of spasticity in persons with central nervous system lesions",
pages = "1-12",
volume = "15",
number = "1",
doi = "10.2298/SJEE171204006P"
}
Popović, D. B.,& Bajd, T. (2018). Pendulum test: Quantified assessment of the type and level of spasticity in persons with central nervous system lesions.
Serbian Journal of Electrical EngineeringKragujevac : University of Kragujevac, Faculty of Science., 15(1), 1-12.
https://doi.org/10.2298/SJEE171204006P
Popović DB, Bajd T. Pendulum test: Quantified assessment of the type and level of spasticity in persons with central nervous system lesions. Serbian Journal of Electrical Engineering. 2018;15(1):1-12
Popović Dejan B., Bajd Tadej, "Pendulum test: Quantified assessment of the type and level of spasticity in persons with central nervous system lesions" 15, no. 1 (2018):1-12,
https://doi.org/10.2298/SJEE171204006P .
1
1

The assessment of spasticity: Pendulum test based smart phone movie of passive markers

Aleksić, Antonina; Graovac, Stevica; Popović Maneski, Lana; Popović, Dejan B.

(Kragujevac : University of Kragujevac, Faculty of Science, 2018)

TY  - JOUR
AU  - Aleksić, Antonina
AU  - Graovac, Stevica
AU  - Popović Maneski, Lana
AU  - Popović, Dejan B.
PY  - 2018
UR  - http://dais.sanu.ac.rs/123456789/3744
AB  - The pendulum test is the method for quantification of the level of spasticity in persons with spinal cord and brain injuries/diseases. The data for the assessment comes from the analysis of lower leg rotation in the sagittal plane while sitting caused by gravity. We built a simple instrument that uses the smart phone and passive markers for studying the pendulum movement of the leg. We compared the results of the new device with the results acquired with the conventional apparatus which uses a knee joint angle encoder and inertial sensors mounted on the upper and lower leg. The differences of parameters estimated from the test between the two systems are in the range of 5%, which is in the same range as the precision of the positioning of the pendulum apparatus on the leg. The new system is simple for the application (donning, doffing, setup time, accuracy, repeatability) and allows a straightforward interpretation to a clinician. © Serbian Journal of Electrical Engineering. 2018.
PB  - Kragujevac : University of Kragujevac, Faculty of Science
T2  - Serbian Journal of Electrical Engineering
T1  - The assessment of spasticity: Pendulum test based smart phone movie of passive markers
SP  - 29
EP  - 39
VL  - 15
IS  - 1
DO  - 10.2298/SJEE1801029A
ER  - 
@article{
author = "Aleksić, Antonina and Graovac, Stevica and Popović Maneski, Lana and Popović, Dejan B.",
year = "2018",
url = "http://dais.sanu.ac.rs/123456789/3744",
abstract = "The pendulum test is the method for quantification of the level of spasticity in persons with spinal cord and brain injuries/diseases. The data for the assessment comes from the analysis of lower leg rotation in the sagittal plane while sitting caused by gravity. We built a simple instrument that uses the smart phone and passive markers for studying the pendulum movement of the leg. We compared the results of the new device with the results acquired with the conventional apparatus which uses a knee joint angle encoder and inertial sensors mounted on the upper and lower leg. The differences of parameters estimated from the test between the two systems are in the range of 5%, which is in the same range as the precision of the positioning of the pendulum apparatus on the leg. The new system is simple for the application (donning, doffing, setup time, accuracy, repeatability) and allows a straightforward interpretation to a clinician. © Serbian Journal of Electrical Engineering. 2018.",
publisher = "Kragujevac : University of Kragujevac, Faculty of Science",
journal = "Serbian Journal of Electrical Engineering",
title = "The assessment of spasticity: Pendulum test based smart phone movie of passive markers",
pages = "29-39",
volume = "15",
number = "1",
doi = "10.2298/SJEE1801029A"
}
Aleksić, A., Graovac, S., Popović Maneski, L.,& Popović, D. B. (2018). The assessment of spasticity: Pendulum test based smart phone movie of passive markers.
Serbian Journal of Electrical EngineeringKragujevac : University of Kragujevac, Faculty of Science., 15(1), 29-39.
https://doi.org/10.2298/SJEE1801029A
Aleksić A, Graovac S, Popović Maneski L, Popović DB. The assessment of spasticity: Pendulum test based smart phone movie of passive markers. Serbian Journal of Electrical Engineering. 2018;15(1):29-39
Aleksić Antonina, Graovac Stevica, Popović Maneski Lana, Popović Dejan B., "The assessment of spasticity: Pendulum test based smart phone movie of passive markers" 15, no. 1 (2018):29-39,
https://doi.org/10.2298/SJEE1801029A .
1
1

Effects of Wii-fit balance board exercise on the posture of stroke patients

Kundaica, Slobodanka; Gavrilović, Marija; Topalović, Ivan; Popović, Dejan

(ETRAN, 2018)

TY  - CONF
AU  - Kundaica, Slobodanka
AU  - Gavrilović, Marija
AU  - Topalović, Ivan
AU  - Popović, Dejan
PY  - 2018
UR  - https://www.etran.rs/2018/IcETRAN/News/IcETRAN%20sumarni%20program%20sekcija_Ver.%204.3%20(1).pdf
UR  - http://dais.sanu.ac.rs/123456789/4632
AB  - We studied the effects of the balancing exercise with visual feedback to the correction of posture in stroke patients. We included eight stroke patients into a 30-minute daily, two-week long clinical study where Wii-Fit balance board was the instrument to provide visual feedback. We assessed the posture before and after the treatment by four clinical tests: Berg balance test, Barthel index, Timed up & go and Functional reach test. We also analyzed the ground reaction pressures (GRP). We measured the GRP by using insoles comprising five MEMS sensors each. We developed a program that created maps showing ground pressure distribution. The program uses cubic spline interpolation of data. The maps of left and right sole were compared to assess the symmetry, and the maps before and after the treatment were used to examine the effects of the exercise. The clinical test scores suggest improved standing after the treatment compared with before the treatment. The maps of ground reaction pressure also show improvement, but more critical provide information for correcting the posture.
PB  - ETRAN
C3  - IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: Program
T1  - Effects of Wii-fit balance board exercise on the posture of stroke patients
ER  - 
@conference{
author = "Kundaica, Slobodanka and Gavrilović, Marija and Topalović, Ivan and Popović, Dejan",
year = "2018",
url = "https://www.etran.rs/2018/IcETRAN/News/IcETRAN%20sumarni%20program%20sekcija_Ver.%204.3%20(1).pdf, http://dais.sanu.ac.rs/123456789/4632",
abstract = "We studied the effects of the balancing exercise with visual feedback to the correction of posture in stroke patients. We included eight stroke patients into a 30-minute daily, two-week long clinical study where Wii-Fit balance board was the instrument to provide visual feedback. We assessed the posture before and after the treatment by four clinical tests: Berg balance test, Barthel index, Timed up & go and Functional reach test. We also analyzed the ground reaction pressures (GRP). We measured the GRP by using insoles comprising five MEMS sensors each. We developed a program that created maps showing ground pressure distribution. The program uses cubic spline interpolation of data. The maps of left and right sole were compared to assess the symmetry, and the maps before and after the treatment were used to examine the effects of the exercise. The clinical test scores suggest improved standing after the treatment compared with before the treatment. The maps of ground reaction pressure also show improvement, but more critical provide information for correcting the posture.",
publisher = "ETRAN",
journal = "IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: Program",
title = "Effects of Wii-fit balance board exercise on the posture of stroke patients"
}
Kundaica, S., Gavrilović, M., Topalović, I.,& Popović, D. (2018). Effects of Wii-fit balance board exercise on the posture of stroke patients.
IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: ProgramETRAN..
Kundaica S, Gavrilović M, Topalović I, Popović D. Effects of Wii-fit balance board exercise on the posture of stroke patients. IcETRAN & ETRAN 2018, Palić 11-14. 06. 2018: Program. 2018;
Kundaica Slobodanka, Gavrilović Marija, Topalović Ivan, Popović Dejan, "Effects of Wii-fit balance board exercise on the posture of stroke patients" (2018)

Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy

Popović Maneski, Lana; Aleksić, Antonina; Metani, Amine; Bergeron, Vance; Čobeljić, Radoje; Popović, Dejan B.

(IEEE, 2018)

TY  - JOUR
AU  - Popović Maneski, Lana
AU  - Aleksić, Antonina
AU  - Metani, Amine
AU  - Bergeron, Vance
AU  - Čobeljić, Radoje
AU  - Popović, Dejan B.
PY  - 2018
UR  - http://dais.sanu.ac.rs/123456789/3752
AB  - Increased muscle tone and exaggerated tendon reflexes characterize most of the individuals after a spinal cord injury (SCI). We estimated seven parameters from the pendulum test and used them to compare with the Ashworth modified scale of spasticity grades in three populations (retrospective study) to assess their spasticity. Three ASIA B SCI patients who exercised on a stationary FES bicycle formed group F, six ASIA B SCI patients who received only conventional therapy were in the group C, and six healthy individuals constituted the group H. The parameters from the pendulum test were used to form a single measure, termed the PT score, for each subject. The pendulum test parameters show differences between the F and C groups, but not between the F and H groups, however, statistical significance was limited due to the small study size. Results show a small deviation from the mean for all parameters in the F group and substantial deviations from the mean for the parameters in the C group. PT scores show significant differences between the F and C groups and the C and H groups and no differences between the F and C groups. The correlation between the PT score and Ashworth score was 0.88. © 2017 IEEE.
PB  - IEEE
T2  - IEEE Transactions on Neural Systems and Rehabilitation Engineering
T1  - Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy
SP  - 181
EP  - 187
VL  - 26
IS  - 1
DO  - 10.1109/TNSRE.2017.2771466
ER  - 
@article{
author = "Popović Maneski, Lana and Aleksić, Antonina and Metani, Amine and Bergeron, Vance and Čobeljić, Radoje and Popović, Dejan B.",
year = "2018",
url = "http://dais.sanu.ac.rs/123456789/3752",
abstract = "Increased muscle tone and exaggerated tendon reflexes characterize most of the individuals after a spinal cord injury (SCI). We estimated seven parameters from the pendulum test and used them to compare with the Ashworth modified scale of spasticity grades in three populations (retrospective study) to assess their spasticity. Three ASIA B SCI patients who exercised on a stationary FES bicycle formed group F, six ASIA B SCI patients who received only conventional therapy were in the group C, and six healthy individuals constituted the group H. The parameters from the pendulum test were used to form a single measure, termed the PT score, for each subject. The pendulum test parameters show differences between the F and C groups, but not between the F and H groups, however, statistical significance was limited due to the small study size. Results show a small deviation from the mean for all parameters in the F group and substantial deviations from the mean for the parameters in the C group. PT scores show significant differences between the F and C groups and the C and H groups and no differences between the F and C groups. The correlation between the PT score and Ashworth score was 0.88. © 2017 IEEE.",
publisher = "IEEE",
journal = "IEEE Transactions on Neural Systems and Rehabilitation Engineering",
title = "Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy",
pages = "181-187",
volume = "26",
number = "1",
doi = "10.1109/TNSRE.2017.2771466"
}
Popović Maneski, L., Aleksić, A., Metani, A., Bergeron, V., Čobeljić, R.,& Popović, D. B. (2018). Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy.
IEEE Transactions on Neural Systems and Rehabilitation EngineeringIEEE., 26(1), 181-187.
https://doi.org/10.1109/TNSRE.2017.2771466
Popović Maneski L, Aleksić A, Metani A, Bergeron V, Čobeljić R, Popović DB. Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy. IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2018;26(1):181-187
Popović Maneski Lana, Aleksić Antonina, Metani Amine, Bergeron Vance, Čobeljić Radoje, Popović Dejan B., "Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive only Conventional Therapy" 26, no. 1 (2018):181-187,
https://doi.org/10.1109/TNSRE.2017.2771466 .
8
6
10

Control of functional electrical stimulation for restoration of motor function

Popović, Dejan B.

(Niš : University of Niš, 2017)

TY  - JOUR
AU  - Popović, Dejan B.
PY  - 2017
UR  - http://dais.sanu.ac.rs/123456789/2387
AB  - An injury or disease of the central nervous system (CNS) results in significant limitations in the communication with the environment (e.g., mobility, reaching and grasping). Functional electrical stimulation (FES) externally activates the muscles; thus, can restore several motor functions and reduce other health related problems. This review discusses the major bottleneck in current FES which prevents the wider use and better outcome of the treatment. We present a control method that we continually enhance during more than 30 years in the research and development of assistive systems. The presented control has a multi-level structure where upper levels use finite state control and the lower level implements model based control. We also discuss possible communication channels between the user and the controller of the FES. The artificial controller can be seen as the replica of the biological control. The principle of replication is used to minimize the problems which come from the interplay of biological and artificial control in FES. The biological control relies on an extensive network of neurons sending the output signals to the muscles. The network is being trained though many the trial and error processes in the early childhood, but staying open to changes throughout the life to satisfy the particular needs. The network considers the nonlinear and time variable properties of the motor system and provides adaptation in time and space. The presented artificial control method implements the same strategy but relies on machine classification, heuristics, and simulation of model-based control. The motivation for writing this review comes from the fact that many control algorithms have been presented in the literature by the authors who do not have much experience in rehabilitation engineering and had never tested the operations with patients. Almost all of the FES devices available implement only open-loop, sensory triggered preprogrammed sequences of stimulation. The suggestion is that the improvements in the FES devices need better controllers which consider the overall status of the potential user, various effects that stimulation has on afferent and efferent systems, reflexive responses to the FES and direct responses to the FES by non-stimulated sensory-motor systems, and the greater integration of the biological control.
PB  - Niš : University of Niš
T2  - Facta Universitatis, Series: Electronics and Energetics
T1  - Control of functional electrical stimulation for restoration of motor function
SP  - 295
EP  - 312
VL  - 30
IS  - 3
DO  - 10.2298/FUEE1703295P
ER  - 
@article{
author = "Popović, Dejan B.",
year = "2017",
url = "http://dais.sanu.ac.rs/123456789/2387",
abstract = "An injury or disease of the central nervous system (CNS) results in significant limitations in the communication with the environment (e.g., mobility, reaching and grasping). Functional electrical stimulation (FES) externally activates the muscles; thus, can restore several motor functions and reduce other health related problems. This review discusses the major bottleneck in current FES which prevents the wider use and better outcome of the treatment. We present a control method that we continually enhance during more than 30 years in the research and development of assistive systems. The presented control has a multi-level structure where upper levels use finite state control and the lower level implements model based control. We also discuss possible communication channels between the user and the controller of the FES. The artificial controller can be seen as the replica of the biological control. The principle of replication is used to minimize the problems which come from the interplay of biological and artificial control in FES. The biological control relies on an extensive network of neurons sending the output signals to the muscles. The network is being trained though many the trial and error processes in the early childhood, but staying open to changes throughout the life to satisfy the particular needs. The network considers the nonlinear and time variable properties of the motor system and provides adaptation in time and space. The presented artificial control method implements the same strategy but relies on machine classification, heuristics, and simulation of model-based control. The motivation for writing this review comes from the fact that many control algorithms have been presented in the literature by the authors who do not have much experience in rehabilitation engineering and had never tested the operations with patients. Almost all of the FES devices available implement only open-loop, sensory triggered preprogrammed sequences of stimulation. The suggestion is that the improvements in the FES devices need better controllers which consider the overall status of the potential user, various effects that stimulation has on afferent and efferent systems, reflexive responses to the FES and direct responses to the FES by non-stimulated sensory-motor systems, and the greater integration of the biological control.",
publisher = "Niš : University of Niš",
journal = "Facta Universitatis, Series: Electronics and Energetics",
title = "Control of functional electrical stimulation for restoration of motor function",
pages = "295-312",
volume = "30",
number = "3",
doi = "10.2298/FUEE1703295P"
}
Popović, D. B. (2017). Control of functional electrical stimulation for restoration of motor function.
Facta Universitatis, Series: Electronics and EnergeticsNiš : University of Niš., 30(3), 295-312.
https://doi.org/10.2298/FUEE1703295P
Popović DB. Control of functional electrical stimulation for restoration of motor function. Facta Universitatis, Series: Electronics and Energetics. 2017;30(3):295-312
Popović Dejan B., "Control of functional electrical stimulation for restoration of motor function" 30, no. 3 (2017):295-312,
https://doi.org/10.2298/FUEE1703295P .
1

A new method and instrumentation for analyzing spasticity

Popović Maneski, Lana; Aleksić, Antonina; Čobeljić, Radoje; Bajd, Tadej; Popović, Dejan B.

(Hong Kong : IETI, 2017)

TY  - JOUR
AU  - Popović Maneski, Lana
AU  - Aleksić, Antonina
AU  - Čobeljić, Radoje
AU  - Bajd, Tadej
AU  - Popović, Dejan B.
PY  - 2017
UR  - http://dais.sanu.ac.rs/123456789/2360
UR  - http://ieti.net/TES/2017V1I103.html
AB  - The assessment of spasticity is an important indicator of the course of the recovery in humans with central nervous system lesion. This recovery may be augmented by optimal ergonomic design of wheelchairs, beds, transferring devices and other devices used in activities of daily life. To quantify the influence of different aids and methods in reduction or increase of spasticity, an objective measure is required. The pendulum test was introduced to induce the stretch of the muscle, thereby, trigger spastic response, and the amplitudes of first sinusoidal movements are used as the measure of spasticity. We present a new model of the lower leg during the pendulum test which includes the nonlinear characteristics of the muscles, and a model of the shank and foot that are customized to the patient. The spastic torque component is calculated based on acquired values of angular acceleration, angular velocity, and angle. We developed a new analysis methodology and tool to describe the level and course of reflexive behavior. We describe the instrumentation for data acquisition. The kinematics is captured by two accelerometers, one gyroscope, and a Hall-effect joint angle encoder. Muscle activities of prime knee flexors and extensors are synchronously recorded. The simulation uses user's particular inertial parameters and data from repeated pendulum movements of the lower leg and outputs the reflexive torque. We developed the user-friendly software in MatLab for the analysis of data recorded with the new instrument. We present the application of the method in representative healthy subject and two spastic SCI patients. The main finding is that this method allows distinction between the flexion and extensions types of spasticity and the level of reflexive behavior.
PB  - Hong Kong : IETI
T2  - IETI Transactions on Ergonomics and Safety
T1  - A new method and instrumentation for analyzing spasticity
SP  - 12
EP  - 27
VL  - 1
IS  - 1
ER  - 
@article{
author = "Popović Maneski, Lana and Aleksić, Antonina and Čobeljić, Radoje and Bajd, Tadej and Popović, Dejan B.",
year = "2017",
url = "http://dais.sanu.ac.rs/123456789/2360, http://ieti.net/TES/2017V1I103.html",
abstract = "The assessment of spasticity is an important indicator of the course of the recovery in humans with central nervous system lesion. This recovery may be augmented by optimal ergonomic design of wheelchairs, beds, transferring devices and other devices used in activities of daily life. To quantify the influence of different aids and methods in reduction or increase of spasticity, an objective measure is required. The pendulum test was introduced to induce the stretch of the muscle, thereby, trigger spastic response, and the amplitudes of first sinusoidal movements are used as the measure of spasticity. We present a new model of the lower leg during the pendulum test which includes the nonlinear characteristics of the muscles, and a model of the shank and foot that are customized to the patient. The spastic torque component is calculated based on acquired values of angular acceleration, angular velocity, and angle. We developed a new analysis methodology and tool to describe the level and course of reflexive behavior. We describe the instrumentation for data acquisition. The kinematics is captured by two accelerometers, one gyroscope, and a Hall-effect joint angle encoder. Muscle activities of prime knee flexors and extensors are synchronously recorded. The simulation uses user's particular inertial parameters and data from repeated pendulum movements of the lower leg and outputs the reflexive torque. We developed the user-friendly software in MatLab for the analysis of data recorded with the new instrument. We present the application of the method in representative healthy subject and two spastic SCI patients. The main finding is that this method allows distinction between the flexion and extensions types of spasticity and the level of reflexive behavior.",
publisher = "Hong Kong : IETI",
journal = "IETI Transactions on Ergonomics and Safety",
title = "A new method and instrumentation for analyzing spasticity",
pages = "12-27",
volume = "1",
number = "1"
}
Popović Maneski, L., Aleksić, A., Čobeljić, R., Bajd, T.,& Popović, D. B. (2017). A new method and instrumentation for analyzing spasticity.
IETI Transactions on Ergonomics and SafetyHong Kong : IETI., 1(1), 12-27.
Popović Maneski L, Aleksić A, Čobeljić R, Bajd T, Popović DB. A new method and instrumentation for analyzing spasticity. IETI Transactions on Ergonomics and Safety. 2017;1(1):12-27
Popović Maneski Lana, Aleksić Antonina, Čobeljić Radoje, Bajd Tadej, Popović Dejan B., "A new method and instrumentation for analyzing spasticity" 1, no. 1 (2017):12-27

Serbia Robotics Hall of Fame: The Impact of the Past

Rodić, Aleksandar; Borangiu, Theodor; Karan, Branko

(Cham : Springer, 2017)

TY  - CONF
AU  - Karan, Branko
PY  - 2017
UR  - http://dais.sanu.ac.rs/123456789/2377
AB  - The paper presents a list of the most influential works in Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighbouring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to the neighbouring countries.
PB  - Cham : Springer
C3  - Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
T1  - Serbia Robotics Hall of Fame: The Impact of the Past
SP  - 631
SP  - 639
EP  - 639
DO  - 10.1007/978-3-319-49058-8_69
ER  - 
@conference{
editor = "Rodić, Aleksandar, Borangiu, Theodor",
author = "Karan, Branko",
year = "2017",
url = "http://dais.sanu.ac.rs/123456789/2377",
abstract = "The paper presents a list of the most influential works in Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighbouring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to the neighbouring countries.",
publisher = "Cham : Springer",
journal = "Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)",
title = "Serbia Robotics Hall of Fame: The Impact of the Past",
pages = "631-639-639",
doi = "10.1007/978-3-319-49058-8_69"
}
Rodić, A., Borangiu, T.,& Karan, B. (2017). Serbia Robotics Hall of Fame: The Impact of the Past.
Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)Cham : Springer., 639-639.
https://doi.org/10.1007/978-3-319-49058-8_69
Rodić A, Borangiu T, Karan B. Serbia Robotics Hall of Fame: The Impact of the Past. Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16). 2017;:639-639
Rodić Aleksandar, Borangiu Theodor, Karan Branko, "Serbia Robotics Hall of Fame: The Impact of the Past" (2017):639-639,
https://doi.org/10.1007/978-3-319-49058-8_69 .

Implementation architecture of a home robot assistant

Karan, Branko; Rodić, Aleksandar; Vujović, Milica; Stevanović, Ilija; Jovanović, Miloš

(Tel Aviv : The Israeli Robotics Association, 2016)

TY  - CONF
AU  - Karan, Branko
AU  - Rodić, Aleksandar
AU  - Vujović, Milica
AU  - Stevanović, Ilija
AU  - Jovanović, Miloš
PY  - 2016
UR  - http://dais.sanu.ac.rs/123456789/809
AB  - This paper deals with development of a personal robot functioning as a part of a smart home. The overall system is based on the cloud computing model to leverage processing, data sensing and communication power of the robot. At the semantic level, it provides capabilities for improved perceiving and expressing the emotions based on analysis of collected and exchanged history data on emotional states and actions.
PB  - Tel Aviv : The Israeli Robotics Association
C3  - ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel
T1  - Implementation architecture of a home robot assistant
ER  - 
@conference{
author = "Karan, Branko and Rodić, Aleksandar and Vujović, Milica and Stevanović, Ilija and Jovanović, Miloš",
year = "2016",
url = "http://dais.sanu.ac.rs/123456789/809",
abstract = "This paper deals with development of a personal robot functioning as a part of a smart home. The overall system is based on the cloud computing model to leverage processing, data sensing and communication power of the robot. At the semantic level, it provides capabilities for improved perceiving and expressing the emotions based on analysis of collected and exchanged history data on emotional states and actions.",
publisher = "Tel Aviv : The Israeli Robotics Association",
journal = "ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel",
title = "Implementation architecture of a home robot assistant"
}
Karan, B., Rodić, A., Vujović, M., Stevanović, I.,& Jovanović, M. (2016). Implementation architecture of a home robot assistant.
ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, IsraelTel Aviv : The Israeli Robotics Association..
Karan B, Rodić A, Vujović M, Stevanović I, Jovanović M. Implementation architecture of a home robot assistant. ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel. 2016;
Karan Branko, Rodić Aleksandar, Vujović Milica, Stevanović Ilija, Jovanović Miloš, "Implementation architecture of a home robot assistant" (2016)

Serbia Robotics Hall of Fame: the Impact of the Past

Karan, Branko

(Academic Mind, 2016)

TY  - CONF
AU  - Karan, Branko
PY  - 2016
UR  - http://dais.sanu.ac.rs/123456789/849
AB  - The paper presents a list of the most influential works of Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighboring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to neighboring countries.
PB  - Academic Mind
C3  - 25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts
T1  - Serbia Robotics Hall of Fame: the Impact of the Past
ER  - 
@conference{
author = "Karan, Branko",
year = "2016",
url = "http://dais.sanu.ac.rs/123456789/849",
abstract = "The paper presents a list of the most influential works of Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighboring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to neighboring countries.",
publisher = "Academic Mind",
journal = "25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts",
title = "Serbia Robotics Hall of Fame: the Impact of the Past"
}
Karan, B. (2016). Serbia Robotics Hall of Fame: the Impact of the Past.
25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstractsAcademic Mind..
Karan B. Serbia Robotics Hall of Fame: the Impact of the Past. 25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts. 2016;
Karan Branko, "Serbia Robotics Hall of Fame: the Impact of the Past" (2016)

Metode i instrumentacija za merenje motorike

Popović Maneski, Lana; Popović, Dejan B.

(Beograd : Akademska misao, 2016)

TY  - BOOK
AU  - Popović Maneski, Lana
AU  - Popović, Dejan B.
PY  - 2016
UR  - http://dais.sanu.ac.rs/123456789/892
AB  - Metode i instrumentacija za merenje pokreta su od značaja za procenu i ocenu motornih sposobnosti ispitanika. Izlaganje u ovom udžbeniku je podeljeno na dve celine imajući u vidu da studenti koji se usavršavaju u oblasti mehatronike u rehabilitaciji dolaze sa različitim predznanjima. Prvi deo udžbenika je napisan tako da zainteresovani mogu da sagledaju principe i osnovne probleme u primeni instrumentacije za akviziciju geometrijskih, kinematičkih, dinamičkih i elektrofizioloških signala koji karakterišu pokrete. Drugi deo udžbenika je serija rezultata autora publikovanih u časopisima koji ilustruju značaj signala koji karakterišu pokrete za rehabilitaciju, a za praćenje tog dela knjige potrebna su inženjerska znanja. Udžbenik počinje pregledom signala koji su od interesa za analizu pokreta. Tekst zatim daje detaljan prikaz stanja u oblasti sistema za merenje pokreta, a autori su svesno ušli u rizik da prikaz uskoro postane zastareo jer sofisticiranost postojećih sistema direktno zavisi od stanja tehnologija koje su sada u eksploziji (novi materijali i informacione tehnologije). U tekstu je poglavlje o principima rada, konstrukciji i funkcijama senzora od interesa za analizu pokreta, a sadržaj je modifikovani tekst o senzorima iz udžbenika Dejana Popovića, "Medicinska instrumentacija i merenja", Akademska misao, 2014. U knjizi smo prikazali i osnove metodologije i instrumentacije za merenje mišićne aktivnosti površinskim elektrodama. Četvrta glava udžbenika ima naslov "podsetnik is mehanike" i daje rezime principa biomehanike i primere koji doprinose razumevanju analize pokreta. Cilj podsetnika je familijarizacija studenta koji nemaju inženjersko obrazovanje sa terminologijom i pomoć u komunikaciji u toku istraživanja sa kolegama koji su obrazovani u oblasti inženjerstva. Drugi deo udžbenika je na engleskom jeziku jer uključuje radove koji su publikovani na engleskom. Ovaj deo knjige ima cilj da studente upozna sa metodama primene instrumentacije za analizu motorike u kliničkim uslovima. Takođe, ovaj deo pokazuje jasno značaj praćenja motorike za objektivizaciju procesa u rehabilitaciji. Konačno, pokazujemo kako signali mogu da se iskoriste za razvoj novih tehnika rehabilitacije, tj. upravljanje novim mehatroničkim sistemima. Ovaj udžbenik u potpunosti pokriva program predmeta "Metode i instrumentacija za merenje motorike" na smeru master studija "Mehatronika u medicinskoj rehabilitaciji". Verujemo da će sadržaj udžbenika i znanja koja studenti steknu pomoći u uspešnoj primeni mehatroničkih sistema u rehabilitaciji, ali i šire od toga proširenju vidika i sagledavanju kontrapunkta čoveka i mašine, tj. produbljenju radoznalosti i želja da se izgrade nove veze čovek - mašina.
PB  - Beograd : Akademska misao
T1  - Metode i instrumentacija za merenje motorike
ER  - 
@book{
author = "Popović Maneski, Lana and Popović, Dejan B.",
year = "2016",
url = "http://dais.sanu.ac.rs/123456789/892",
abstract = "Metode i instrumentacija za merenje pokreta su od značaja za procenu i ocenu motornih sposobnosti ispitanika. Izlaganje u ovom udžbeniku je podeljeno na dve celine imajući u vidu da studenti koji se usavršavaju u oblasti mehatronike u rehabilitaciji dolaze sa različitim predznanjima. Prvi deo udžbenika je napisan tako da zainteresovani mogu da sagledaju principe i osnovne probleme u primeni instrumentacije za akviziciju geometrijskih, kinematičkih, dinamičkih i elektrofizioloških signala koji karakterišu pokrete. Drugi deo udžbenika je serija rezultata autora publikovanih u časopisima koji ilustruju značaj signala koji karakterišu pokrete za rehabilitaciju, a za praćenje tog dela knjige potrebna su inženjerska znanja. Udžbenik počinje pregledom signala koji su od interesa za analizu pokreta. Tekst zatim daje detaljan prikaz stanja u oblasti sistema za merenje pokreta, a autori su svesno ušli u rizik da prikaz uskoro postane zastareo jer sofisticiranost postojećih sistema direktno zavisi od stanja tehnologija koje su sada u eksploziji (novi materijali i informacione tehnologije). U tekstu je poglavlje o principima rada, konstrukciji i funkcijama senzora od interesa za analizu pokreta, a sadržaj je modifikovani tekst o senzorima iz udžbenika Dejana Popovića, "Medicinska instrumentacija i merenja", Akademska misao, 2014. U knjizi smo prikazali i osnove metodologije i instrumentacije za merenje mišićne aktivnosti površinskim elektrodama. Četvrta glava udžbenika ima naslov "podsetnik is mehanike" i daje rezime principa biomehanike i primere koji doprinose razumevanju analize pokreta. Cilj podsetnika je familijarizacija studenta koji nemaju inženjersko obrazovanje sa terminologijom i pomoć u komunikaciji u toku istraživanja sa kolegama koji su obrazovani u oblasti inženjerstva. Drugi deo udžbenika je na engleskom jeziku jer uključuje radove koji su publikovani na engleskom. Ovaj deo knjige ima cilj da studente upozna sa metodama primene instrumentacije za analizu motorike u kliničkim uslovima. Takođe, ovaj deo pokazuje jasno značaj praćenja motorike za objektivizaciju procesa u rehabilitaciji. Konačno, pokazujemo kako signali mogu da se iskoriste za razvoj novih tehnika rehabilitacije, tj. upravljanje novim mehatroničkim sistemima. Ovaj udžbenik u potpunosti pokriva program predmeta "Metode i instrumentacija za merenje motorike" na smeru master studija "Mehatronika u medicinskoj rehabilitaciji". Verujemo da će sadržaj udžbenika i znanja koja studenti steknu pomoći u uspešnoj primeni mehatroničkih sistema u rehabilitaciji, ali i šire od toga proširenju vidika i sagledavanju kontrapunkta čoveka i mašine, tj. produbljenju radoznalosti i želja da se izgrade nove veze čovek - mašina.",
publisher = "Beograd : Akademska misao",
title = "Metode i instrumentacija za merenje motorike"
}
Popović Maneski, L.,& Popović, D. B. (2016). Metode i instrumentacija za merenje motorike.
Beograd : Akademska misao..
Popović Maneski L, Popović DB. Metode i instrumentacija za merenje motorike. 2016;
Popović Maneski Lana, Popović Dejan B., "Metode i instrumentacija za merenje motorike" (2016)

Stimulation map for control of functional grasp based on multi-channel EMG recordings

Popović Maneski, Lana; Topalović, Ivan; Jovičić, Nenad; Dedijer, Suzana; Konstantinović, Ljubica; Popović, Dejan B.

(Elsevier, 2016)

TY  - JOUR
AU  - Popović Maneski, Lana
AU  - Topalović, Ivan
AU  - Jovičić, Nenad
AU  - Dedijer, Suzana
AU  - Konstantinović, Ljubica
AU  - Popović, Dejan B.
PY  - 2016
UR  - http://dais.sanu.ac.rs/123456789/15999
AB  - Transcutaneous activation of muscles with electrical stimulation has limited selectivity in recruiting paralyzed muscles in stroke patients. However, the selectivity could be increased by the application of smaller electrodes and their appropriate positioning on the skin. We developed a method for selecting the appropriate positions of the stimulating electrodes based on electromyography (EMG). The EMG activity maps were estimated from signals recorded with two electrode arrays and two 24-channel wearable amplifiers positioned on the nonparetic and paretic forearms. The areas where the difference between the EMG maps obtained from the nonparetic and paretic arms was significant were identified as the stimulation sites. The stimulation was applied through array electrodes with magnetic holders and two wearable stimulators with four output channels each. The measures of functionality included joint angles measured with goniometers (hand opening) and grasp force measured with a multi-contact dynamometer (grasping). The stimulation protocol comprised co-activation of flexors and extensors to stabilize the wrist joint and prevent pronation/supination.
PB  - Elsevier
T2  - Medical Engineering and Physics
T1  - Stimulation map for control of functional grasp based on multi-channel EMG recordings
SP  - 1251
EP  - 1259
VL  - 38
IS  - 11
DO  - 10.1016/j.medengphy.2016.06.004
ER  - 
@article{
author = "Popović Maneski, Lana and Topalović, Ivan and Jovičić, Nenad and Dedijer, Suzana and Konstantinović, Ljubica and Popović, Dejan B.",
year = "2016",
url = "http://dais.sanu.ac.rs/123456789/15999",
abstract = "Transcutaneous activation of muscles with electrical stimulation has limited selectivity in recruiting paralyzed muscles in stroke patients. However, the selectivity could be increased by the application of smaller electrodes and their appropriate positioning on the skin. We developed a method for selecting the appropriate positions of the stimulating electrodes based on electromyography (EMG). The EMG activity maps were estimated from signals recorded with two electrode arrays and two 24-channel wearable amplifiers positioned on the nonparetic and paretic forearms. The areas where the difference between the EMG maps obtained from the nonparetic and paretic arms was significant were identified as the stimulation sites. The stimulation was applied through array electrodes with magnetic holders and two wearable stimulators with four output channels each. The measures of functionality included joint angles measured with goniometers (hand opening) and grasp force measured with a multi-contact dynamometer (grasping). The stimulation protocol comprised co-activation of flexors and extensors to stabilize the wrist joint and prevent pronation/supination.",
publisher = "Elsevier",
journal = "Medical Engineering and Physics",
title = "Stimulation map for control of functional grasp based on multi-channel EMG recordings",
pages = "1251-1259",
volume = "38",
number = "11",
doi = "10.1016/j.medengphy.2016.06.004"
}
Popović Maneski, L., Topalović, I., Jovičić, N., Dedijer, S., Konstantinović, L.,& Popović, D. B. (2016). Stimulation map for control of functional grasp based on multi-channel EMG recordings.
Medical Engineering and PhysicsElsevier., 38(11), 1251-1259.
https://doi.org/10.1016/j.medengphy.2016.06.004
Popović Maneski L, Topalović I, Jovičić N, Dedijer S, Konstantinović L, Popović DB. Stimulation map for control of functional grasp based on multi-channel EMG recordings. Medical Engineering and Physics. 2016;38(11):1251-1259
Popović Maneski Lana, Topalović Ivan, Jovičić Nenad, Dedijer Suzana, Konstantinović Ljubica, Popović Dejan B., "Stimulation map for control of functional grasp based on multi-channel EMG recordings" 38, no. 11 (2016):1251-1259,
https://doi.org/10.1016/j.medengphy.2016.06.004 .
6
8
5
10

Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment

Rodić, Aleksandar; Jovanović, Miloš; Stevanović, Ilija; Karan, Branko; Potkonjak, Veljko

(Elsevier, 2015)

TY  - JOUR
AU  - Rodić, Aleksandar
AU  - Jovanović, Miloš
AU  - Stevanović, Ilija
AU  - Karan, Branko
AU  - Potkonjak, Veljko
PY  - 2015
UR  - http://dais.sanu.ac.rs/123456789/808
AB  - The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented) torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope), stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions, etc.
PB  - Elsevier
T2  - Digital Communications and Networks
T1  - Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment
SP  - 112
EP  - 124
VL  - 1
DO  - 10.1016/j.dcan.2015.03.002
ER  - 
@article{
author = "Rodić, Aleksandar and Jovanović, Miloš and Stevanović, Ilija and Karan, Branko and Potkonjak, Veljko",
year = "2015",
url = "http://dais.sanu.ac.rs/123456789/808",
abstract = "The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented) torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope), stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions, etc.",
publisher = "Elsevier",
journal = "Digital Communications and Networks",
title = "Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment",
pages = "112-124",
volume = "1",
doi = "10.1016/j.dcan.2015.03.002"
}
Rodić, A., Jovanović, M., Stevanović, I., Karan, B.,& Potkonjak, V. (2015). Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment.
Digital Communications and NetworksElsevier., 1, 112-124.
https://doi.org/10.1016/j.dcan.2015.03.002
Rodić A, Jovanović M, Stevanović I, Karan B, Potkonjak V. Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment. Digital Communications and Networks. 2015;1:112-124
Rodić Aleksandar, Jovanović Miloš, Stevanović Ilija, Karan Branko, Potkonjak Veljko, "Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment" 1 (2015):112-124,
https://doi.org/10.1016/j.dcan.2015.03.002 .
1
8
5
9

Calibration of Kinect-type RGB-D sensors for robotic applications

Karan, Branko

(Belgrade : University of belgrade, Faculty of Mechanical Engineering, 2015)

TY  - JOUR
AU  - Karan, Branko
PY  - 2015
UR  - http://dais.sanu.ac.rs/123456789/722
AB  - The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a two-step calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
PB  - Belgrade : University of belgrade, Faculty of Mechanical Engineering
T2  - FME Transactions
T1  - Calibration of Kinect-type RGB-D sensors for robotic applications
SP  - 47
EP  - 54
VL  - 43
DO  - 10.5937/fmet1501047K
ER  - 
@article{
author = "Karan, Branko",
year = "2015",
url = "http://dais.sanu.ac.rs/123456789/722",
abstract = "The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a two-step calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.",
publisher = "Belgrade : University of belgrade, Faculty of Mechanical Engineering",
journal = "FME Transactions",
title = "Calibration of Kinect-type RGB-D sensors for robotic applications",
pages = "47-54",
volume = "43",
doi = "10.5937/fmet1501047K"
}
Karan, B. (2015). Calibration of Kinect-type RGB-D sensors for robotic applications.
FME TransactionsBelgrade : University of belgrade, Faculty of Mechanical Engineering., 43, 47-54.
https://doi.org/10.5937/fmet1501047K
Karan B. Calibration of Kinect-type RGB-D sensors for robotic applications. FME Transactions. 2015;43:47-54
Karan Branko, "Calibration of Kinect-type RGB-D sensors for robotic applications" 43 (2015):47-54,
https://doi.org/10.5937/fmet1501047K .
14
12
13

Development of a prototype of an ambient-aware two-arm mobile service robot

Karan, Branko; Potkonjak, Veljko; Rodić, Aleksandar; Katić, Duško; Jovanović, Miloš; Borovac, Branislav

(Belgrade : Institute for Research and Design in Commerce and Industry, 2014)

TY  - CONF
AU  - Karan, Branko
AU  - Potkonjak, Veljko
AU  - Rodić, Aleksandar
AU  - Katić, Duško
AU  - Jovanović, Miloš
AU  - Borovac, Branislav
PY  - 2014
UR  - http://dais.sanu.ac.rs/123456789/599
AB  - This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015.
PB  - Belgrade : Institute for Research and Design in Commerce and Industry
C3  - Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)
T1  - Development of a prototype of an ambient-aware two-arm mobile service robot
SP  - 7
EP  - 12
ER  - 
@conference{
author = "Karan, Branko and Potkonjak, Veljko and Rodić, Aleksandar and Katić, Duško and Jovanović, Miloš and Borovac, Branislav",
year = "2014",
url = "http://dais.sanu.ac.rs/123456789/599",
abstract = "This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015.",
publisher = "Belgrade : Institute for Research and Design in Commerce and Industry",
journal = "Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)",
title = "Development of a prototype of an ambient-aware two-arm mobile service robot",
pages = "7-12"
}
Karan, B., Potkonjak, V., Rodić, A., Katić, D., Jovanović, M.,& Borovac, B. (2014). Development of a prototype of an ambient-aware two-arm mobile service robot.
Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)Belgrade : Institute for Research and Design in Commerce and Industry., 7-12.
Karan B, Potkonjak V, Rodić A, Katić D, Jovanović M, Borovac B. Development of a prototype of an ambient-aware two-arm mobile service robot. Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry). 2014;:7-12
Karan Branko, Potkonjak Veljko, Rodić Aleksandar, Katić Duško, Jovanović Miloš, Borovac Branislav, "Development of a prototype of an ambient-aware two-arm mobile service robot" (2014):7-12

Development of Modular Compliant Anthropomorphic Robot Hand

Rodić, Aleksandar; Miloradović, Branko; Popić, Svemir; Spasojević, Sofija; Karan, Branko

(Springer International Publishing, 2014)

TY  - CHAP
AU  - Rodić, Aleksandar
AU  - Miloradović, Branko
AU  - Popić, Svemir
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2014
UR  - http://dais.sanu.ac.rs/123456789/721
AB  - The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.
PB  - Springer International Publishing
T2  - New Trends in Medical and Service Robots: Theory and Integrated Applications
T1  - Development of Modular Compliant Anthropomorphic Robot Hand
SP  - 205
EP  - 219
DO  - 10.1007/978-3-319-01592-7_15
ER  - 
@article{
author = "Rodić, Aleksandar and Miloradović, Branko and Popić, Svemir and Spasojević, Sofija and Karan, Branko",
year = "2014",
url = "http://dais.sanu.ac.rs/123456789/721",
abstract = "The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.",
publisher = "Springer International Publishing",
journal = "New Trends in Medical and Service Robots: Theory and Integrated Applications",
title = "Development of Modular Compliant Anthropomorphic Robot Hand",
pages = "205-219",
doi = "10.1007/978-3-319-01592-7_15"
}
Rodić, A., Miloradović, B., Popić, S., Spasojević, S.,& Karan, B. (2014). Development of Modular Compliant Anthropomorphic Robot Hand.
New Trends in Medical and Service Robots: Theory and Integrated ApplicationsSpringer International Publishing., 205-219.
https://doi.org/10.1007/978-3-319-01592-7_15
Rodić A, Miloradović B, Popić S, Spasojević S, Karan B. Development of Modular Compliant Anthropomorphic Robot Hand. New Trends in Medical and Service Robots: Theory and Integrated Applications. 2014;:205-219
Rodić Aleksandar, Miloradović Branko, Popić Svemir, Spasojević Sofija, Karan Branko, "Development of Modular Compliant Anthropomorphic Robot Hand" (2014):205-219,
https://doi.org/10.1007/978-3-319-01592-7_15 .
3
3

Calibration of depth measurement model for Kinect-type 3D vision sensors

Karan, Branko

(Plzen : University of West Bohemia, Plzen, Czech Republic, 2013)

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - http://dais.sanu.ac.rs/123456789/718
AB  - Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.
PB  - Plzen : University of West Bohemia, Plzen, Czech Republic
C3  - 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings
T1  - Calibration of depth measurement model for Kinect-type 3D vision sensors
SP  - 61
EP  - 64
ER  - 
@conference{
author = "Karan, Branko",
year = "2013",
url = "http://dais.sanu.ac.rs/123456789/718",
abstract = "Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.",
publisher = "Plzen : University of West Bohemia, Plzen, Czech Republic",
journal = "21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings",
title = "Calibration of depth measurement model for Kinect-type 3D vision sensors",
pages = "61-64"
}
Karan, B. (2013). Calibration of depth measurement model for Kinect-type 3D vision sensors.
21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster ProceedingsPlzen : University of West Bohemia, Plzen, Czech Republic., 61-64.
Karan B. Calibration of depth measurement model for Kinect-type 3D vision sensors. 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings. 2013;:61-64
Karan Branko, "Calibration of depth measurement model for Kinect-type 3D vision sensors" (2013):61-64

Calibration of depth measurement model for Kinect-type 3D vision sensors

Karan, Branko

(Plzen : University of West Bohemia, Plzen, Czech Republic, 2013)

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - http://dais.sanu.ac.rs/123456789/717
AB  - Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.
PB  - Plzen : University of West Bohemia, Plzen, Czech Republic
C3  - 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings
T1  - Calibration of depth measurement model for Kinect-type 3D vision sensors
SP  - 61
EP  - 64
ER  - 
@conference{
author = "Karan, Branko",
year = "2013",
url = "http://dais.sanu.ac.rs/123456789/717",
abstract = "Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.",
publisher = "Plzen : University of West Bohemia, Plzen, Czech Republic",
journal = "21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings",
title = "Calibration of depth measurement model for Kinect-type 3D vision sensors",
pages = "61-64"
}
Karan, B. (2013). Calibration of depth measurement model for Kinect-type 3D vision sensors.
21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster ProceedingsPlzen : University of West Bohemia, Plzen, Czech Republic., 61-64.
Karan B. Calibration of depth measurement model for Kinect-type 3D vision sensors. 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings. 2013;:61-64
Karan Branko, "Calibration of depth measurement model for Kinect-type 3D vision sensors" (2013):61-64

Accuracy improvements of consumer-grade 3D sensors for robotic applications

Karan, Branko

(IEEE, 2013)

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - http://dais.sanu.ac.rs/123456789/719
AB  - Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
PB  - IEEE
C3  - Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
T1  - Accuracy improvements of consumer-grade 3D sensors for robotic applications
SP  - 141
EP  - 146
DO  - 10.1109/SISY.2013.6662558
ER  - 
@conference{
author = "Karan, Branko",
year = "2013",
url = "http://dais.sanu.ac.rs/123456789/719",
abstract = "Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.",
publisher = "IEEE",
journal = "Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia",
title = "Accuracy improvements of consumer-grade 3D sensors for robotic applications",
pages = "141-146",
doi = "10.1109/SISY.2013.6662558"
}
Karan, B. (2013). Accuracy improvements of consumer-grade 3D sensors for robotic applications.
Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, SerbiaIEEE., 141-146.
https://doi.org/10.1109/SISY.2013.6662558
Karan B. Accuracy improvements of consumer-grade 3D sensors for robotic applications. Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia. 2013;:141-146
Karan Branko, "Accuracy improvements of consumer-grade 3D sensors for robotic applications" (2013):141-146,
https://doi.org/10.1109/SISY.2013.6662558 .
7
7