Nicolas Gerig


Last Name

Gerig

First Name

Nicolas

ORCID

0000-0002-2119-4620

Organisational unit

01630 - Lehre HEST

Filters

2014 - 2019132020 - 20256
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Publications 1 - 10 of 19
  • Missing Depth Cues in Virtual Reality Decrease Performance of Three-Dimensional Reaching Movements
    Item type: Conference Paper
    Gerig, Nicolas; Mayo, Johnathan; Baur, Kilian; et al. (2017)
    Advances in Intelligent Systems and Computing ~ Proceedings of the 11th International Symposium on Computer Science in Sport (IACSS 2017)
  • When a robot teaches humans: Automated feedback selection accelerates motor learning
    Item type: Journal Article
    Rauter, Georg; Gerig, Nicolas; Sigrist, Roland; et al. (2019)
    Science Robotics
  • Expanding Upper-Arm Stroke Rehabilitation with ARMin to Arbitrarily Complex Tasks
    Item type: Conference Poster
    Just, Fabian; Waeber, Andreas; Gerig, Nicolas; et al. (2015)
  • Benchmarking brain-computer interfaces outside the laboratory: the Cybathlon 2016
    Item type: Journal Article
    Novak, Domen; Sigrist, Roland; Gerig, Nicolas; et al. (2018)
    Frontiers in Neuroscience
  • The Functional Rotational Workspace of a Human-Robot System can be Influenced by Adjusting the Telemanipulator Handle Orientation
    Item type: Journal Article
    Zoller, Esther; Gerig, Nicolas; Cattin, Philippe C.; et al. (2021)
    IEEE Transactions on Haptics
    The handle design of telemanipulation master devices has not been extensively studied so far. However, the master device handle is an integral part of the robotic system through which the user interacts with the system. Previous work showed that the size and shape of the functional rotational workspace of the human-robot system and its usability are influenced by the design of the master device handle. Still, in certain situations, e.g., due to user preference, a specific grasp type handle might be desired. Therefore, we provide a systematic approach on how to assess and adjust the functional rotational workspace of a human-robot system. We investigated the functional rotational workspace with two exemplary grasp type handles and two different mounting orientations for each handle. The results showed that by adapting the handle orientation in the home configuration of the telemanipulator, the functional rotational workspace of the human-robot system can be adjusted systematically to cover more of the mechanical workspace of the master device. Finally, we deduct recommendations on how to choose and adjust a telemanipulator handle.
  • Guidance in the nullspace reduces task difficulty in robot-assisted coordination training
    Item type: Conference Paper
    Waeber, Andreas; Gerig, Nicolas; Baur, Kilian; et al. (2015)
    Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2015)
  • Visual error amplification showed no benefit for non-naïve subjects in trunk-arm rowing
    Item type: Journal Article
    Gerig, Nicolas; Basalp, Ekin; Sigrist, Roland; et al. (2019)
    Current Issues in Sport Science (CISS)
    Motor learning is assumed to be a partly error driven process. Motor learning studies on simple movements have shown that skilled subjects benefit from training with error amplification. Findings of studies with simple movements do not necessarily transfer to complex sport movements. The goal of this work was to determine the benefit of visual error amplification for non-naïve subjects in learning a fast rowing movement. We conducted a study comparing non-naïve subjects receiving a fading, visual feedback with visual error amplification against a control group receiving the same visual feedback without error amplification. Separate outcome metrics were applied for the domains of spatial and velocity magnitude errors. Besides error metrics, variability metrics were evaluated for both domains, such that they could be interpreted in quantitative relation to each other. The implemented error amplification did not cause group differences in any variable. Subjects with or without error amplification reached similar absolute levels in error and variability. Possible reasons remain speculative. For implementing error amplification to the training of complex movements design decisions must be made for which an informative basis is missing, e.g. the error amplification gains.
  • Force Quantification and Simulation of Pedicle Screw Tract Palpation Using Direct Visuo-Haptic Volume Rendering
    Item type: Journal Article
    Zoller, Esther; Faludi, Balázs; Gerig, Nicolas; et al. (2020)
    International Journal of Computer Assisted Radiology and Surgery
    Purpose We present a feasibility study for the visuo-haptic simulation of pedicle screw tract palpation in virtual reality, using an approach that requires no manual processing or segmentation of the volumetric medical data set. Methods In a first experiment, we quantified the forces and torques present during the palpation of a pedicle screw tract in a real boar vertebra. We equipped a ball-tipped pedicle probe with a 6-axis force/torque sensor and a motion capture marker cluster. We simultaneously recorded the pose of the probe relative to the vertebra and measured the generated forces and torques during palpation. This allowed us replaying the recorded palpation movements in our simulator and to fine-tune the haptic rendering to approximate the measured forces and torques. In a second experiment, we asked two neurosurgeons to palpate a virtual version of the same vertebra in our simulator, while we logged the forces and torques sent to the haptic device. Results In the experiments with the real vertebra, the maximum measured force along the longitudinal axis of the probe was 7.78 N and the maximum measured bending torque was 0.13 Nm. In an offline simulation of the motion of the pedicle probe recorded during the palpation of a real pedicle screw tract, our approach generated forces and torques that were similar in magnitude and progression to the measured ones. When surgeons tested our simulator, the distributions of the computed forces and torques were similar to the measured ones; however, higher forces and torques occurred more frequently. Conclusions We demonstrated the suitability of direct visual and haptic volume rendering to simulate a specific surgical procedure. Our approach of fine-tuning the simulation by measuring the forces and torques that are prevalent while palpating a real vertebra produced promising results.
  • Relating Kinematic Error to Movement Variability Quantitatively by Using Dynamic Time Warping
    Item type: Other Conference Item
    Gerig, Nicolas; Riener, Robert; Wolf, Peter (2017)
    9th SGS/4S Annual Meeting, Conference Abstracts
Publications 1 - 10 of 19