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Haptic Intelligence Members Publications

Multimodal Sensing Reveals the Dynamics of Time-Constrained Teamwork

A team cooperating to solve puzzles on a portable escape game. A state-of-the-art multimodal data collection system captures their physiological, communicational, and spatial data for analysis.

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Publications

Haptic Intelligence Miscellaneous Error-State Extended Kalman Filter Sensor Fusion for Tracking Collaborating Humans Hudhud Mughrabi, M., Allemang–Trivalle, A., Kuchenbecker, K. J. Extended abstract (3 pages) presented at the German Robotics Conference (GRC), Nuremberg, Germany, March 2025 (Published)
How teams collaborate to perform complex tasks , from team sports to surgical procedures, has previously been investigated via multimodal sensing and analysis. Ultra-wideband (UWB) positioning systems are highly mobile and can be used to track collaborating team members even in cramped environments. However, the sampling rate of UWB systems is inversely proportional to the number of people tracked, and their accuracy is hindered by electromagnetic occlusion. To improve position and orientation estimation during team collaborative studies, we propose to fuse UWB positioning with a wearable inertial measurement unit (IMU) by applying an error-state extended Kalman filter (ES-EKF). This filter offers faster and more consistent estimation and remains functional even in the absence of UWB input. Single-human and multi-human sessions were recorded and filtered for evaluation against ground truth from optical motion capture. By integrating IMU readings, the ES-EKF increases the sampling rate from 0.5-20 Hz to 100 Hz. Even by correcting only planar position in the room, the ES-EKF yields improved results over UWB in four out of six DOF: lateral and longitudinal position and yaw and pitch orientation.
BibTeX

Haptic Intelligence Bachelor Thesis Kalman Filter Approach to Sensor Fusion of Ultra-Wideband Positioning and IMU Readings for Enhanced Indoor Tracking of Collaborating Humans Hudhud Mughrabi, M. Kadir Has University, Istanbul, Turkey, June 2024, Bachelor of Science (BSc) in Mechatronics Engineering (Published)
The question of how humans collaborate to perform complex tasks such as surgery has previously been investigated via multimodal sensing and analysis. Ultra-wideband (UWB) localization systems can be deployed to track collaborating team members due to good maneuverability even in cramped environments. However, UWB systems' sampling rate is inversely proportional to the number of people tracked, and their accuracy is hindered by electromagnetic occlusion. This thesis combines UWB positioning with measurements from a wearable inertial measurement unit (IMU) by applying an error-state extended Kalman filter (ES-EKF) to improve position and orientation estimation during team collaborative studies. ES-EKF offers faster and more consistent estimation and can be estimated even without UWB input. Single-human and multi-human sessions were recorded and filtered for evaluation in comparison to ground truth from optical motion capture. By integrating the IMU, the ES-EKF increases the sampling rate from 0.5–20 Hz to 100 Hz. As it is corrected in only 2 degrees of freedom (DOF), the ES-EKF yields improved results over UWB in 4 out of 6 DOF: lateral and longitudinal position and yaw and pitch orientation. Further filter design implications are suggested for future application of ES-EKF in position and orientation estimation of collaborating humans.
BibTeX

Haptic Intelligence Intelligent Control Systems Conference Paper Enhancing Surgical Team Collaboration and Situation Awareness through Multimodal Sensing Allemang–Trivalle, A. In Proceedings of the ACM International Conference on Multimodal Interaction, 716-720, Extended abstract (5 pages) presented at the ACM International Conference on Multimodal Interaction (ICMI) Doctoral Consortium, Paris, France, October 2023 (Published)
Surgery, typically seen as the surgeon's sole responsibility, requires a broader perspective acknowledging the vital roles of other operating room (OR) personnel. The interactions among team members are crucial for delivering quality care and depend on shared situation awareness. I propose a two-phase approach to design and evaluate a multimodal platform that monitors OR members, offering insights into surgical procedures. The first phase focuses on designing a data-collection platform, tailored to surgical constraints, to generate novel collaboration and situation-awareness metrics using synchronous recordings of the participants' voices, positions, orientations, electrocardiograms, and respiration signals. The second phase concerns the creation of intuitive dashboards and visualizations, aiding surgeons in reviewing recorded surgery, identifying adverse events and contributing to proactive measures. This work aims to demonstrate an innovative approach to data collection and analysis, augmenting the surgical team's capabilities. The multimodal platform has the potential to enhance collaboration, foster situation awareness, and ultimately mitigate surgical adverse events. This research sets the stage for a transformative shift in the OR, enabling a more holistic and inclusive perspective that recognizes that surgery is a team effort.
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