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|Title:||Multi-step prediction of physiological tremor with random quaternion neurons for surgical robotics applications||Authors:||Wang, Yubo
Ang, Wei Tech
Veluvolu, Kalyana C.
DRNTU::Engineering::Electrical and electronic engineering
|Issue Date:||2018||Source:||Wang, Y., Tatinati, S., Adhikari, K., Huang, L., Nazarpour, K., Ang, W. T., & Veluvolu, K. C. (2018). Multi-step prediction of physiological tremor with random quaternion neurons for surgical robotics applications. IEEE Access, 6, 42216-42226. doi:10.1109/ACCESS.2018.2852323||Series/Report no.:||IEEE Access||Abstract:||Digital filters are employed in hand-held robotic instruments to separate the concomitant involuntary physiological tremor motion from the desired motion of micro-surgeons. Inherent phase-lag in digital filters induces phase distortion (time-lag/delay) into the separated tremor motion and it adversely affects the final tremor compensation. Owing to the necessity of digital filters in hand-held instruments, multi-step prediction of physiological tremor motion is proposed as a solution to counter the induced delay. In this paper, a quaternion variant for extreme learning machines (QELMs) is developed for multi-step prediction of the tremor motion. The learning paradigm of the QELM integrates the identified underlying relationship from 3-D tremor motion in the Hermitian space with the fast learning merits of ELMs theories to predict the tremor motion for a known horizon. Real tremor data acquired from micro-surgeons and novice subjects are employed to validate the QELM for various prediction horizons in-line with the delay induced by the order of digital filters. Prediction inferences underpin that the QELM method elegantly learns the cross-dimensional coupling of the tremor motion with random quaternion neurons and hence obtained significant improvement in prediction performance at all prediction horizons compared with existing methods.||URI:||https://hdl.handle.net/10356/88364
|DOI:||http://dx.doi.org/10.1109/ACCESS.2018.2852323||Rights:||© 2018 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.||metadata.item.grantfulltext:||open||metadata.item.fulltext:||With Fulltext|
|Appears in Collections:||EEE Journal Articles|
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