Recent technological advances enable gripper-equipped robots to perform many tasks traditionally associated with the human hand, allowing the use of grippers in a wide range of applications. Depending on the application, an ideal gripper design should be affordable, energy-efficient, and adaptable to many situations. However, regardless of the number of grippers available on the market, there are still many tasks that are difficult for grippers to perform, which indicates the demand and room for new designs to compete with the human hand. Thus, this paper provides a comprehensive review of robotic arm grippers to identify the benefits and drawbacks of various gripper designs. The research compares gripper designs by considering the actuation mechanism, degrees of freedom, grasping capabilities with multiple objects, and applications, concluding which should be the gripper design with the broader set of capabilities.

Being an emerging technology, robotic manipulation has encountered tremendous advancements due to technological developments starting from using sensors to artificial intelligence. Over the decades, robotic manipulation has advanced in terms of the versatility and flexibility of mobile robot platforms. Thus, robots are now capable of interacting with the world around them. To interact with the real world, robots require various sensory inputs from their surroundings, and the use of vision is rapidly increasing nowadays, as vision is unquestionably a rich source of information for a robotic system. In recent years, robotic manipulators have made significant progress towards achieving human-like abilities. There is still a large gap between human and robot dexterity, especially when it comes to executing complex and long-lasting manipulations. This paper comprehensively investigates the state-of-the-art development of vision-based robotic application, which includes the current state, components, and approaches used along with the algorithms with respect to the control and application of robots. Furthermore, a comprehensive analysis of those vision-based applied algorithms, their effectiveness, and their complexity has been enlightened here. To conclude, there is a discussion over the constraints while performing the research and potential solutions to develop a robust and accurate vision-based robot manipulation.

Background: There is worldwide demand for an affordable hemoglobin measurement solution, which is a particularly urgent need in developing countries. The smartphone, which is the most penetrated device in both rich and resource-constrained areas, would be a suitable choice to build this solution. Consideration of a smartphone-based hemoglobin measurement tool is compelling because of the possibilities for an affordable, portable, and reliable point-of-care tool by leveraging the camera capacity, computing power, and lighting sources of the smartphone. However, several smartphone-based hemoglobin measurement techniques have encountered significant challenges with respect to data collection methods, sensor selection, signal analysis processes, and machine-learning algorithms. Therefore, a comprehensive analysis of invasive, minimally invasive, and noninvasive methods is required to recommend a hemoglobin measurement process using a smartphone device. Objective: In this study, we analyzed existing invasive, minimally invasive, and noninvasive approaches for blood hemoglobin level measurement with the goal of recommending data collection techniques, signal extraction processes, feature calculation strategies, theoretical foundation, and machine-learning algorithms for developing a noninvasive hemoglobin level estimation point-of-care tool using a smartphone. Methods: We explored research papers related to invasive, minimally invasive, and noninvasive hemoglobin level measurement processes. We investigated the challenges and opportunities of each technique. We compared the variation in data collection sites, biosignal processing techniques, theoretical foundations, photoplethysmogram (PPG) signal and features extraction process, machine-learning algorithms, and prediction models to calculate hemoglobin levels. This analysis was then used to recommend realistic approaches to build a smartphone-based point-of-care tool for hemoglobin measurement in a noninvasive manner. Results: The fingertip area is one of the best data collection sites from the body, followed by the lower eye conjunctival area. Near-infrared (NIR) light-emitting diode (LED) light with wavelengths of 850 nm, 940 nm, and 1070 nm were identified as potential light sources to receive a hemoglobin response from living tissue. PPG signals from fingertip videos, captured under various light sources, can provide critical physiological clues. The features of PPG signals captured under 1070 nm and 850 nm NIR LED are considered to be the best signal combinations following a dual-wavelength theoretical foundation. For error metrics presentation, we recommend the mean absolute percentage error, mean squared error, correlation coefficient, and Bland-Altman plot. Conclusions: We addressed the challenges of developing an affordable, portable, and reliable point-of-care tool for hemoglobin measurement using a smartphone. Leveraging the smartphone’s camera capacity, computing power, and lighting sources, we define specific recommendations for practical point-of-care solution development. We further provide recommendations to resolve several long-standing research questions, including how to capture a signal using a smartphone camera, select the best body site for signal collection, and overcome noise issues in the smartphone-captured signal. We also describe the process of extracting a signal’s features after capturing the signal based on fundamental theory. The list of machine-learning algorithms provided will be useful for processing PPG features. These recommendations should be valuable for future investigators seeking to build a reliable and affordable hemoglobin prediction model using a smartphone.

Upper limb dysfunction (ULD) is common following a stroke, spinal cord injury, trauma, and occupational accidents. Post-stroke patients with ULD need long-term assistance from therapists for their rehabilitation, which generally occurs at the hospital or outpatient clinic. Physical therapists are unavailable because of geographical, financial, and scheduling concerns, and continuity of care needs to be improved due to the need to travel to multiple locations for therapy. As a result, providing specific, tailored therapy programs is challenging due to the absence of feedback and real-time monitoring. An effective telerehabilitation system can address this issue and is more cost-effective for healthcare providers and patients than traditional inpatient or person-to-person rehabilitation. Remotely operating robotic devices and using advanced technology improves patient and healthcare provider safety and reduces injuries. In this study, we developed a novel telerehabilitation framework for rehabilitation robots utilizing PTC’s Industrial Internet of Things (IIoT) platform to remotely provide robot-aided therapies for individuals with ULD. With the developed telerehabilitation framework, an operator can teleoperate the rehab robots to deliver Upper-limb (UL) exercises via an Augmented Reality (AR) based graphical user interface (GUI). This AR platform communicates bidirectionally using ThingWorx IIOT. It leverages the digital twin (DT) structure facilitated by Vuforia studio to visualize the physical robot motions happening in remote places. The telerehabilitation framework was validated through a commercially available robot (xArm 5), an exoskeleton (SREx), and an end-effector type rehabilitation robot (DMRbot) developed at Biorobotics Lab, UWM. The experiment results show that the telerehabilitation system can successfully provide UL rehab exercises in 2D and 3D planes via AR. The proposed framework is developed to facilitate robust and more promising robot-aided rehabilitation sessions remotely, and it can also be applied in other medical applications.

Background: Care for children with autism spectrum disorder (ASD) can be challenging for families and medical care systems. This is especially true in low- and- middle-income countries such as Bangladesh. To improve family–practitioner communication and developmental monitoring of children with ASD, mCARE (Mobile-Based Care for Children with Autism Spectrum Disorder Using Remote Experience Sampling Method) was developed. Within this study, mCARE was used to track child milestone achievement and family sociodemographic assets to inform mCARE feasibility/scalability and family asset–informed practitioner recommendations. Objective: The objectives of this paper are threefold. First, it documents how mCARE can be used to monitor child milestone achievement. Second, it demonstrates how advanced machine learning models can inform our understanding of milestone achievement in children with ASD. Third, it describes family/child sociodemographic factors that are associated with earlier milestone achievement in children with ASD (across 5 machine learning models). Methods: Using mCARE-collected data, this study assessed milestone achievement in 300 children with ASD from Bangladesh. In this study, we used 4 supervised machine learning algorithms (decision tree, logistic regression, K-nearest neighbor [KNN], and artificial neural network [ANN]) and 1 unsupervised machine learning algorithm (K-means clustering) to build models of milestone achievement based on family/child sociodemographic details. For analyses, the sample was randomly divided in half to train the machine learning models and then their accuracy was estimated based on the other half of the sample. Each model was specified for the following milestones: Brushes teeth, Asks to use the toilet, Urinates in the toilet or potty, and Buttons large buttons. Results: This study aimed to find a suitable machine learning algorithm for milestone prediction/achievement for children with ASD using family/child sociodemographic characteristics. For Brushes teeth, the 3 supervised machine learning models met or exceeded an accuracy of 95% with logistic regression, KNN, and ANN as the most robust sociodemographic predictors. For Asks to use toilet, 84.00% accuracy was achieved with the KNN and ANN models. For these models, the family sociodemographic predictors of “family expenditure” and “parents’ age” accounted for most of the model variability. The last 2 parameters, Urinates in toilet or potty and Buttons large buttons, had an accuracy of 91.00% and 76.00%, respectively, in ANN. Overall, the ANN had a higher accuracy (above ~80% on average) among the other algorithms for all the parameters. Across the models and milestones, “family expenditure,” “family size/type,” “living places,” and “parent’s age and occupation” were the most influential family/child sociodemographic factors. Conclusions: mCARE was successfully deployed in a low- and middle-income country (ie, Bangladesh), providing parents and care practitioners a mechanism to share detailed information on child milestones achievement. Using advanced modeling techniques this study demonstrates how family/child sociodemographic elements can inform child milestone achievement. Specifically, families with fewer sociodemographic resources reported later milestone attainment. Developmental science theories highlight how family/systems can directly influence child development and this study provides a clear link between family resources and child developmental progress. Clinical implications for this work could include supporting the larger family system to improve child milestone achievement.

Background: Applications of robotics in daily life are becoming essential by creating new possibilities in different fields, especially in the collaborative environment. The potentials of collaborative robots are tremendous as they can work in the same workspace as humans. A framework employing a top-notch technology for collaborative robots will surely be worthwhile for further research. Objective: This study aims to present the development of a novel framework for the collaborative robot using mixed reality. Methods: The framework uses Unity and Unity Hub as a cross-platform gaming engine and project management tool to design the mixed reality interface and digital twin. It also uses the Windows Mixed Reality platform to show digital materials on holographic display and the Azure mixed reality services to capture and expose digital information. Eventually, it uses a holographic device (HoloLens 2) to execute the mixed reality–based collaborative system. Results: A thorough experiment was conducted to validate the novel framework for mixed reality–based control of a collaborative robot. This framework was successfully applied to implement a collaborative system using a 5–degree of freedom robot (xArm-5) in a mixed reality environment. The framework was stable and worked smoothly throughout the collaborative session. Due to the distributed nature of cloud applications, there is a negligible latency between giving a command and the execution of the physical collaborative robot. Conclusions: Opportunities for collaborative robots in telerehabilitation and teleoperation are vital as in any other field. The proposed framework was successfully applied in a collaborative session, and it can also be applied in other similar potential applications for robust and more promising performance.