The tactile sensing technology has now progressed to the new developments in the field of robotic... more The tactile sensing technology has now progressed to the new developments in the field of robotics. In order to keep up with the trends, in this paper we have developed a soft fabric based tactile sensor which is incorporated with a 3D printed robotic hand for rehabilitation uses. Various types of tactile sensors were made with differences in the conductive material used. Conductive thread and conductive fabric based sensors were fabricated with the piezoresistive principle. On comparison with the conventional types of rigid tactile sensors, these newly fabricated sensors are advantageous in many ways in terms of their uncomplicated design, high sensitivity, lightweight and flexible nature. The 3D printed robotic hand has its inspiration from origami and its potential application in the rehabilitation process for stroke patients is validated in this paper.
Abstract Two different types of soft actuators magnetic actuator and electroactive polymer (EAP) ... more Abstract Two different types of soft actuators magnetic actuator and electroactive polymer (EAP) actuator are fabricated by using poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS) as a conductive electrode. Magnetic actuators were fabricated through drop-casting of PEDOT:PSS and Fe3O4. Similarly, the EAP actuators were fabricated with ionic liquid/PVDF film sandwiched by two PEDOT:PSS film electrodes. In the magnetic actuator, the conductivity of the actuator decreases from 2160.0 to 1833.7 S/cm, as the ratio of PEDOT:PSS to Fe3O4 increases from 1:1 to 1:5. Meanwhile, the saturation magnetization increases, as the ratio increases from 1:1 to 1:5. For the EAP actuator, the PEDOT:PSS/xylitol films with a conductivity of 73.5 S/cm are employed for the electrical actuation. Overall, these actuators have the potential to be used in biomedical applications as soft actuators.
American Society of Clinical Oncology Educational Book
Recently, a wide spectrum of artificial intelligence (AI)–based applications in the broader categ... more Recently, a wide spectrum of artificial intelligence (AI)–based applications in the broader categories of digital pathology, biomarker development, and treatment have been explored. In the domain of digital pathology, these have included novel analytical strategies for realizing new information derived from standard histology to guide treatment selection and biomarker development to predict treatment selection and response. In therapeutics, these have included AI-driven drug target discovery, drug design and repurposing, combination regimen optimization, modulated dosing, and beyond. Given the continued advances that are emerging, it is important to develop workflows that seamlessly combine the various segments of AI innovation to comprehensively augment the diagnostic and interventional arsenal of the clinical oncology community. To overcome challenges that remain with regard to the ideation, validation, and deployment of AI in clinical oncology, recommendations toward bringing thi...
Aims Artificial intelligence-driven small data platforms, such as CURATE.AI, hold potential for p... more Aims Artificial intelligence-driven small data platforms, such as CURATE.AI, hold potential for personalised hypertension care by assisting physicians in identifying personalised anti-hypertensive doses for titration. This trial aims to assess the feasibility of a larger randomised controlled trial (RCT) evaluating the efficacy of CURATE.AI-assisted dose titration intervention. We will also collect preliminary efficacy and safety data, and explore stakeholder feedback in the early design process. Methods In this open-label, randomised, pilot feasibility trial, we aim to recruit 45 participants with primary hypertension. Participants will be randomised in 1:1:1 ratio into control (no intervention), home blood pressure monitoring (active control; HBPM), or CURATE.AI arms (intervention; HBPM and CURATE.AI-assisted dose titration). The home treatments include one month of two-drug anti-hypertensive regimens. Primary endpoints assess the logistical (e.g. dose adherence) and scientific (e...
Tacrolimus is the cornerstone of immunosuppressive therapy after pediatric liver transplantation.... more Tacrolimus is the cornerstone of immunosuppressive therapy after pediatric liver transplantation. However, reliance on the physician’s experience for dose titration, coupled with tacrolimus’s narrow therapeutic window and inter and intra-patient variability, often results in frequent under or over-dosing with detrimental patient outcomes. Existing predictive dose personalization models are not readily feasible for clinical implementation, as they require multiple measurements each day while the standard frequency is once daily. We developed CURATE.AI, a small-data artificial intelligence-derived platform, as a clinical decision support system to personalize doses using the patient’s own data obtained once a day. Retrospective dose personalization with CURATE.AI on 16 patients’ data demonstrated potential to enable patients to stay in the therapeutic range longer and reach the therapeutic range significantly earlier. Our findings support the testing of CURATE.AI in a prospective cont...
2017 13th IEEE Conference on Automation Science and Engineering (CASE), 2017
The ability to sense and measure object properties based on touch is known as tactile sensing. Th... more The ability to sense and measure object properties based on touch is known as tactile sensing. The flexibility and dexterity of soft robots can be fully explored, only with efficient tactile feedback from the environment or the objects the robot interact with. This paper discusses about the development of a soft fabric based piezoresistive tactile sensor, the related calibration experiments and procedures. Fabric based sensors are flexible, stretchable and can confer to both hard and soft surfaces easily. The ability of the tactile sensor to enhance the efficiency of robotic activities is demonstrated in a simple cutting task. The robotic end effector used is a pneumatically controlled soft gripper. Experimental results show that the feedback from the tactile sensor developed is successfully used to detect the completion of the cutting task.
2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019
Intensive research in sensors and human-robot interactions has made the social presence of robots... more Intensive research in sensors and human-robot interactions has made the social presence of robots safer and more acceptable. In any interaction of the robot with its surroundings, it is important to establish proper contact with the object to ensure complete control over its manipulation. The sense of touch and perception play a vital role to close the feedback loop of contact modulations. This paper discusses the design and development of a novel hybrid sensorized soft-matter structure which has active contact modulation capabilities to ensure better and firm contact in rigid robotic grippers. An integrated multi-taxel piezoresistive tactile sensor which can confer to both rigid and soft surfaces easily was developed as a feedback device. Experimental observations show enhancement in grip and demonstrate a simple slip detection routine under dynamic load condition successfully.
1574 Background: Most treatment guidelines recommend chemotherapy at maximum tolerated doses, whi... more 1574 Background: Most treatment guidelines recommend chemotherapy at maximum tolerated doses, which does not always lead to optimal efficacy, but implicitly results in toxicity. To overcome this challenge, we developed CURATE.AI, a small data, AI-derived platform that harnesses only a patient’s own prospectively/longitudinally acquired data to dynamically identify their own optimal and personalized doses. We subsequently harnessed CURATE.AI to dynamically modulate individualized chemotherapy doses for patients in a prospective clinical trial. Methods: We conducted an open-label, multi-center, single-arm, prospective feasibility trial in patients diagnosed with advanced solid tumors and treated with single-agent capecitabine, XELOX or XELIRI (+/- biologics) (NCT04522284). The standard-of-care (SOC) capecitabine dose was 1000 mg/m2, unless adjusted by clinician to account for patient’s comorbidities and organ dysfunction. Using an AI-discovered second-order correlation between patient...
Wearable devices are gaining recognition for their use as a biosensor platform. Electrical impeda... more Wearable devices are gaining recognition for their use as a biosensor platform. Electrical impedance tomography (EIT) is one of the sensing techniques that utilizes wearable sensors as its primary data acquisition system. It measures the impedance or resistance at the peripheral (skin) level and calculates the conductivity distribution throughout the body. Even though the technology has existed for several decades, modern-day EIT devices are still costly and bulky. The paper proposes a novel low-cost kirigami-based wearable device that has soft PEDOT: PSS electrodes for sensing skin impedances. Simulation results show that the proposed kirigami structure for the bracelet has a large deformation during actuation while experiencing relatively lower stress. The paper also presents a comparative study on a few machine learning algorithms to classify hand gestures, based on the measured skin impedance. The best classification accuracy (91.49%) was observed from the quadratic support vect...
The tactile sensing technology has now progressed to the new developments in the field of robotic... more The tactile sensing technology has now progressed to the new developments in the field of robotics. In order to keep up with the trends, in this paper we have developed a soft fabric based tactile sensor which is incorporated with a 3D printed robotic hand for rehabilitation uses. Various types of tactile sensors were made with differences in the conductive material used. Conductive thread and conductive fabric based sensors were fabricated with the piezoresistive principle. On comparison with the conventional types of rigid tactile sensors, these newly fabricated sensors are advantageous in many ways in terms of their uncomplicated design, high sensitivity, lightweight and flexible nature. The 3D printed robotic hand has its inspiration from origami and its potential application in the rehabilitation process for stroke patients is validated in this paper.
Abstract Two different types of soft actuators magnetic actuator and electroactive polymer (EAP) ... more Abstract Two different types of soft actuators magnetic actuator and electroactive polymer (EAP) actuator are fabricated by using poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS) as a conductive electrode. Magnetic actuators were fabricated through drop-casting of PEDOT:PSS and Fe3O4. Similarly, the EAP actuators were fabricated with ionic liquid/PVDF film sandwiched by two PEDOT:PSS film electrodes. In the magnetic actuator, the conductivity of the actuator decreases from 2160.0 to 1833.7 S/cm, as the ratio of PEDOT:PSS to Fe3O4 increases from 1:1 to 1:5. Meanwhile, the saturation magnetization increases, as the ratio increases from 1:1 to 1:5. For the EAP actuator, the PEDOT:PSS/xylitol films with a conductivity of 73.5 S/cm are employed for the electrical actuation. Overall, these actuators have the potential to be used in biomedical applications as soft actuators.
American Society of Clinical Oncology Educational Book
Recently, a wide spectrum of artificial intelligence (AI)–based applications in the broader categ... more Recently, a wide spectrum of artificial intelligence (AI)–based applications in the broader categories of digital pathology, biomarker development, and treatment have been explored. In the domain of digital pathology, these have included novel analytical strategies for realizing new information derived from standard histology to guide treatment selection and biomarker development to predict treatment selection and response. In therapeutics, these have included AI-driven drug target discovery, drug design and repurposing, combination regimen optimization, modulated dosing, and beyond. Given the continued advances that are emerging, it is important to develop workflows that seamlessly combine the various segments of AI innovation to comprehensively augment the diagnostic and interventional arsenal of the clinical oncology community. To overcome challenges that remain with regard to the ideation, validation, and deployment of AI in clinical oncology, recommendations toward bringing thi...
Aims Artificial intelligence-driven small data platforms, such as CURATE.AI, hold potential for p... more Aims Artificial intelligence-driven small data platforms, such as CURATE.AI, hold potential for personalised hypertension care by assisting physicians in identifying personalised anti-hypertensive doses for titration. This trial aims to assess the feasibility of a larger randomised controlled trial (RCT) evaluating the efficacy of CURATE.AI-assisted dose titration intervention. We will also collect preliminary efficacy and safety data, and explore stakeholder feedback in the early design process. Methods In this open-label, randomised, pilot feasibility trial, we aim to recruit 45 participants with primary hypertension. Participants will be randomised in 1:1:1 ratio into control (no intervention), home blood pressure monitoring (active control; HBPM), or CURATE.AI arms (intervention; HBPM and CURATE.AI-assisted dose titration). The home treatments include one month of two-drug anti-hypertensive regimens. Primary endpoints assess the logistical (e.g. dose adherence) and scientific (e...
Tacrolimus is the cornerstone of immunosuppressive therapy after pediatric liver transplantation.... more Tacrolimus is the cornerstone of immunosuppressive therapy after pediatric liver transplantation. However, reliance on the physician’s experience for dose titration, coupled with tacrolimus’s narrow therapeutic window and inter and intra-patient variability, often results in frequent under or over-dosing with detrimental patient outcomes. Existing predictive dose personalization models are not readily feasible for clinical implementation, as they require multiple measurements each day while the standard frequency is once daily. We developed CURATE.AI, a small-data artificial intelligence-derived platform, as a clinical decision support system to personalize doses using the patient’s own data obtained once a day. Retrospective dose personalization with CURATE.AI on 16 patients’ data demonstrated potential to enable patients to stay in the therapeutic range longer and reach the therapeutic range significantly earlier. Our findings support the testing of CURATE.AI in a prospective cont...
2017 13th IEEE Conference on Automation Science and Engineering (CASE), 2017
The ability to sense and measure object properties based on touch is known as tactile sensing. Th... more The ability to sense and measure object properties based on touch is known as tactile sensing. The flexibility and dexterity of soft robots can be fully explored, only with efficient tactile feedback from the environment or the objects the robot interact with. This paper discusses about the development of a soft fabric based piezoresistive tactile sensor, the related calibration experiments and procedures. Fabric based sensors are flexible, stretchable and can confer to both hard and soft surfaces easily. The ability of the tactile sensor to enhance the efficiency of robotic activities is demonstrated in a simple cutting task. The robotic end effector used is a pneumatically controlled soft gripper. Experimental results show that the feedback from the tactile sensor developed is successfully used to detect the completion of the cutting task.
2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019
Intensive research in sensors and human-robot interactions has made the social presence of robots... more Intensive research in sensors and human-robot interactions has made the social presence of robots safer and more acceptable. In any interaction of the robot with its surroundings, it is important to establish proper contact with the object to ensure complete control over its manipulation. The sense of touch and perception play a vital role to close the feedback loop of contact modulations. This paper discusses the design and development of a novel hybrid sensorized soft-matter structure which has active contact modulation capabilities to ensure better and firm contact in rigid robotic grippers. An integrated multi-taxel piezoresistive tactile sensor which can confer to both rigid and soft surfaces easily was developed as a feedback device. Experimental observations show enhancement in grip and demonstrate a simple slip detection routine under dynamic load condition successfully.
1574 Background: Most treatment guidelines recommend chemotherapy at maximum tolerated doses, whi... more 1574 Background: Most treatment guidelines recommend chemotherapy at maximum tolerated doses, which does not always lead to optimal efficacy, but implicitly results in toxicity. To overcome this challenge, we developed CURATE.AI, a small data, AI-derived platform that harnesses only a patient’s own prospectively/longitudinally acquired data to dynamically identify their own optimal and personalized doses. We subsequently harnessed CURATE.AI to dynamically modulate individualized chemotherapy doses for patients in a prospective clinical trial. Methods: We conducted an open-label, multi-center, single-arm, prospective feasibility trial in patients diagnosed with advanced solid tumors and treated with single-agent capecitabine, XELOX or XELIRI (+/- biologics) (NCT04522284). The standard-of-care (SOC) capecitabine dose was 1000 mg/m2, unless adjusted by clinician to account for patient’s comorbidities and organ dysfunction. Using an AI-discovered second-order correlation between patient...
Wearable devices are gaining recognition for their use as a biosensor platform. Electrical impeda... more Wearable devices are gaining recognition for their use as a biosensor platform. Electrical impedance tomography (EIT) is one of the sensing techniques that utilizes wearable sensors as its primary data acquisition system. It measures the impedance or resistance at the peripheral (skin) level and calculates the conductivity distribution throughout the body. Even though the technology has existed for several decades, modern-day EIT devices are still costly and bulky. The paper proposes a novel low-cost kirigami-based wearable device that has soft PEDOT: PSS electrodes for sensing skin impedances. Simulation results show that the proposed kirigami structure for the bracelet has a large deformation during actuation while experiencing relatively lower stress. The paper also presents a comparative study on a few machine learning algorithms to classify hand gestures, based on the measured skin impedance. The best classification accuracy (91.49%) was observed from the quadratic support vect...
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Papers by Kirthika Kumar