Multipoint haptic mediator interface for robotic teleoperation

Despite recent advances in artificial intelligence and autonomous robotics, teleoperation can provide distinct benefits in applications requiring real-time human judgement and intuition. However, as robotic systems are increasingly becoming sophisticated and are performing more complex tasks, realizing these benefits requires new approaches to teleoperation. This paper introduces a novel haptic mediator interface for teleoperating mobile robotic platforms that have a variety of manipulators and functions. Identical master-slave bilateral teleoperation of the robotic manipulators is achieved by representing them in virtual reality and by allowing the operator to interact with them using a multipoint haptic device. The operator is also able to command motions to the mobile platform by using a novel haptic interaction metaphor rather than a separate dedicated input device. The presented interaction techniques enable the operator to perform a wide range of control functions and achieve functionality similar to that of conventional teleoperation schemes that use a single haptic interface. The mediator interface is presented, and important considerations such as workspace mapping and scaling are discussed. © 2015 IEEE.

Multipoint haptic guidance for micrograsping systems

The ability to perform accurate micromanipulation offers wide-reaching benefits and is of increasing interest to researchers. Recent research into microgripper, microtweezer, and microforcep systems contributes toward accurate micrograsping and manipulation. Despite these efforts, achieving adequate operator control remains a distinct research challenge. Haptic interfaces interact with the human's haptic modality and offer the ability to enhance the operator's controllability of micromanipulation systems. Our previous work introduced single-point haptic guidance to assist the operator during intracellular microinjection. This paper extends the approach to propose multipoint haptic guidance for micrograsping tasks. Accurate micrograsping is valuable in many applications, including microassembly and biomanipulation. A multipoint haptic gripper facilitates haptic interaction, and haptic guidance assists the operator in controlling systems suitable for micrograsping. Force fields are used to guide the operator to suitable grasp points on micrometer-sized objects and consist of attractive and repulsive forces. The ability of the force field to effectively assist the operator in grasping the cell is evaluated using a virtual environment. Evaluation results demonstrate the ability of the approach to significantly reduce participants' average grasping error.

Fault tolerance force for redundant manipulators

Fault tolerant manipulators maintain their trajectory even if their joint/s fails. Assuming that the manipulator is fault tolerant on its trajectory, fault tolerant compliance manipulators provide required force at their end-effector even when a joint fails. To achieve this, the contributions of the faulty joints for the force of the end-effector are required to be mapped into the proper compensating joint torques of the healthy joints to maintain the force. This paper addresses the optimal mapping to minimize the force jump due to a fault, which is the maximum effort to maintain the force when a fault occurs. The paper studies the locked joint fault/s of the redundant manipulators and it relates the force jump at the end-effector to the faults within the joints. Adding on a previous study to maintain the trajectory, in here the objective is to providing fault tolerant force at the end-effector of the redundant manipulators. This optimal mapping with minimum force jump is presented using matrix perturbation model. And the force jump is calculated through this model for single and multiple joints fault. The proposed optimal mapping is used in different fault scenarios for a 5-DOF manipulator; also it is deployed to compensate the force at the end-effector for the 5-DOF manipulator through simulation study and the results are presented.

Grasping virtual objects with multi-point haptics

The majority of commercially available haptic devices offer a single point of haptic interaction. These devices are limited when it is desirable to grasp with multiple fingers in applications including virtual training, telesurgery and telemanipulation. Multipoint haptic devices serve to facilitate a greater range of interactions. This paper presents a gripper attachment to enable multi-point haptic grasping in virtual environments. The approach employs two Phantom Omni haptic devices to independently render forces to the user's thumb and other fingers. Compared with more complex approaches to multi-point haptics, this approach provides a number of advantages including low-cost, reliability and ease of programming. The ability of the integrated multi-point haptic platform to interact within a CHAI 3D virtual environment is also presented.

Parallel manipulators with a rotation-symmetric arm system

Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators with additional favorable qualities, including low inertia and high eigenfrequencies. These qualities are achieved using only 5-DOF lower arm links and by mounting all actuators on the nonmoving base column of the manipulator. The common feature of all previously proposed manipulators in this subclass is identified and several novel 3-DOF and 4-DOF members are introduced.

Integrating kinect and haptics for interactive STEM education in local and distributed environments

Skill shortage is a realistic social problem that Australia is currently facing, especially in the fields of Science, Technology, Engineering and Mathematics (STEM). Various approaches have been proposed to soften this issue. By now the most successful approach is to attract pre-university youth and university freshmen into those fields before they make a decision on future subjects by introducing them with interactive, modifiable and inspiring virtual environments, which incorporates most essential knowledge of STEM. We propose to design a comprehensive virtual reality platform with immersive interactions, pluggable components and flexible configurations. It also involves haptics, motion capture and gesture recognition, and could be deployed in both local and distributed environments. The platform utilizes off the shelf low cost haptics and motion capture products, however the fidelity can be maintained at a good level. The proposed platform has been implemented with different configurations and has been tested on a group of users. Preliminary test results show that the interactivity, flexibility and fidelity of the platform are highly appreciated by users. User surveys also indicate that the proposed platform could help pre-university students and university freshmen build an overview of various aspects of STEM education. Besides, users are also positive on the fact that the platform enabled them to identify the challenges for higher education in STEM by providing them opportunities to interactively modify system configurations and instantly experience the corresponding results both visually and haptically.

A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms

This paper investigates axis-symmetric parallel manipulators, composed of a central base column and an arm system able to rotate around this column. The arm system includes several actuated upper arms, each connected to a manipulated platform by one or more lower arm linkages. Such manipulators feature an extensive positional workspace in relation to the manipulator footprint and equal manipulator properties in all radial half-planes defined by the common rotation-axis of the upper arms. The similarities between planar manipulators exclusively employing 2-degrees-of-freedom (2-DOF) lower arm linkages and lower mobility spatial manipulators only utilising 5-DOF lower arm linkages are analysed. The 2-DOF linkages are composed of a link with a 1-DOF hinge on both ends whilst the 5-DOF linkages utilise 3-DOF spherical joints and 2-DOF universal joints. By employing a proposed linkage substitution scheme, it is shown how a wide range of spatial axis-symmetric parallel manipulators can be derived from a limited range of planar manipulators of the same type.

3D virtual haptic cone for intuitive vehicle motion control

Haptic human-machine interfaces and interaction techniques have been shown to offer advantages over conventional approaches. This work introduces the 3D virtual haptic cone with the aim of improving human remote control of a vehicle's motion. The 3D cone introduces a third dimension to the haptic control surface over existing approaches. This approach improves upon existing methods by providing the human operator with an intuitive method for issuing vehicle motion commands whilst simultaneously receiving real-time haptic information from the remote system. The presented approach offers potential across many applications, and as a case study, this work considers the approach in the context of mobile robot motion control. The performance of the approach in providing the operator with improved motion controllability is evaluated and the performance improvement determined.

First-principles based force-field for the interaction of proteins with Au(100)(5 x 1): an extension of GolP-CHARMM

Noncovalent recognition between peptides and inorganic materials is an established phenomenon. Key to exploiting these interactions in a wide range of materials self-assembly applications would be to harness the facet-selective control of peptide binding onto these materials. Fundamental understanding of what drives facet-selectivity in peptide binding is developing, but as yet is not sufficient to enable design of predictable facet-specific sequences. Computational simulation of the aqueous peptide-gold interface, commonly used to understand the mechanisms driving adsorption at an atomic level, has thus far neglected the role that surface reconstruction might play in facet specificity. Here the polarizable GolP-CHARMM suite of force fields is extended to include the reconstructed Au(100) surface. The force field, compatible with the bio-organic force field CHARMM, is parametrized using first-principles data. Our extended force field is tailored to reproduce the heterogeneity of weak chemisorbing N and S species to specific locations in the Au(100)(5 × 1) surface identified from the first-principles calculations. We apply our new model to predict and compare the three-dimensional structure of liquid water at Au(111), Au(100)(1 × 1), and Au(100)(5 × 1) interfaces. Using molecular dynamics simulations, we predict an increased likelihood for water-mediated peptide adsorption at the aqueous-Au(100)(1 × 1) interface compared with the Au(100)(5 × 1) interface. Therefore, our findings suggest that peptide binding can discriminate between the native and reconstructed Au(100) interfaces and that the role of reconstruction on binding at the Au(100) interface should not be neglected. © 2013 American Chemical Society.

Kinetic analysis of the interaction of the copper chaperone Atox1 with the metal binding sites of the Menkes protein

Excess copper is effluxed from mammalian cells by the Menkes or Wilson P-type ATPases (MNK and WND, respectively). MNK and WND have six metal binding sites (MBSs) containing a CXXC motif within their N-terminal cytoplasmic region. Evidence suggests that copper is delivered to the ATPases by Atox1, one of three cytoplasmic copper chaperones. Attempts to monitor a direct Atox1-MNK interaction and to determine kinetic parameters have not been successful. Here we investigated interactions of Atox1 with wild-type and mutated pairs of the MBSs of MNK using two different methods: yeast two-hybrid analysis and real-time surface plasmon resonance (SPR). A copper-dependent interaction of Atox1 with the MBSs of MNK was observed by both approaches. Cys to Ser mutations of conserved CXXC motifs affected the binding of Atox1 underlining the essentiality of Cys residues for the copper-induced interaction. Although the yeast two-hybrid assay failed to show an interaction of Atox1 with MBS5/6, SPR analysis clearly demonstrated a copper-dependent binding with all six MBSs highlighting the power and sensitivity of SPR as compared with other, more indirect methods like the yeast two-hybrid system. Binding constants for copper-dependent chaperone-MBS interactions were determined to be 10–5-10–6 M for all the MBSs representing relatively low affinity binding events. The interaction of Atox1 with pairs of the MBSs was non-cooperative. Therefore, a functional difference of the MBSs in the MNK N terminus cannot be attributed to cooperativity effects or varying affinities of the copper chaperone Atox1 with the MBSs.

Haptic control of multi-axis robotic systems

Control of tele-operated remote robot’s is nothing new; the public was introduced to this 'new' field in 1986 when the Chernobyl cleanup began. Pictures of weird and wonderful robotic workers pouring concrete or moving rubble flooded the world. Integration of force feedback or 'haptics' to remote robot's is a new development and one that is likely to make a big difference in man-machine interaction. Development of haptic capable tele-operation schema is a challenge. Often platform specific software is developed for one off tasks. This research focussed on the development of an open software platform for haptic control of multiple remote robotic platforms. The software utilises efficient server/client architecture for low data latency, while efficiently performing required kinematic transforms and data manipulation in real time. A description of the algorithm, software interface and hardware is presented in this paper. Preliminary results are encouraging as haptic control has been shown to greatly enhances remote positioning tasks.

The interplay of secondary Te···N, Te···O, Te···I and I···I interactions, Te···π contacts and π-stacking in the supramolecular structures of [{2-(4-nitrobenzylideneamino)-5-methyl}phenyl](4-methoxyphenyl)tellurium dihalides

The unsymmetrical1y substituted diorganotellurium dihalides [2-(4,4'-N0₂C₆H₄CHNC₆H₃Me]RTeX₂ (R = 4-MeOC₆H₄, X = Cl,
1a; Br, 1b; I, 1c; R =4-MeC₆H₄ ; X = Cl, 2; R =C₆H₅, X = Cl, 3) were prepared in good yields and characterized by solution and solid-state ¹²⁵Te NMR spectroscopy, IR spectroscopy and X-ray crystallography. In the solid-state, molecular structures of 1a and 1c possess scarcely observed 1,4-type intramolecular Te···N secondary interaction. Crystal packing of these compounds show an unusually rich diversity of intermolecular secondary, Te·· ·0, Te· .. \ and 1···1 interactions, Te·· ·π contacts as well as extensive
π-stacking of the organic substituents.

1-Naphthyl- and mesityltellurium(IV,II) derivatives of small bite chelating organic ligands: effect of steric bulk and intramolecular secondary bonding interaction on molecular geometry and supramolecular association

The synthesis and characterization of unsymmetric diorganotellurium compounds containing a sterically demanding I-naphthyl or
mesitylligand and a small bite chelating organic ligand capable of 1,4-Te···N(O) intramolecular interaction is described. The reaction
of ArTeCl₃ (Ar = I-C_lOH₇, Np; 2,4,6-Me₃C₆H_2' Mes) with (SB)HgCI [SB = the Schiff base, 2-(4,4'-N0₂C₆H₄CH=NC₆H₃-Me)] or a methyl ketone (RCOCH₃) afforded the corresponding dichlorides (SB)ArTeCI₂ (Ar = Np, 1Aa; Mes, 1Ba) or (RCOCH₂)ArTeCl₂ (Ar = Np; R = Ph (2Aa), Me (3Aa), Np (4Aa); Ar = Mes, R = Ph (2Ba)). Reduction of 1Aa and 1Ba by Na₂S₂0₅ readily gave the tellurides (SB)ArTe (Ar = Np (1A), Mes, (1B) but that of dichlorides derived from methylketones was complicated due to partial decomposition to tellurium powder and diarylditelluride (Ar₂Te₂), resulting in poor yields of the corresponding tellurides 2A, 2B and 3A. Oxidation of the isolated tellurides with S0₂Cl₂, Br₂ and I₂ yielded the corresponding dihalides. All the synthesized compounds have been characterized with the help of IR, ¹H, ^l3C, and ¹²⁵Te NMR and in the case of 2Aa, and 2Ba by X-ray crystallography. Appearance of only one ¹²⁵Te signal indicated that the unsymmetric derivatives were stable to disproportionation to symmetric species. Intramolecular 1,4-Te· . ·0 secondary bonding interactions (SBIs) are exhibited in the crystal structures of both the tellurium(IV) dichlorides, 2Aa, and 2Ba. Steric repulsion of the mesityl group in the latter dominates over lone pair-bond pair repulsion, resulting in significant widening of the equatorial C-Te-C angle. This appears to be responsible for the lack of Te· . ·CI involved supramolecular associations in the crystal structure of 2Ba.

Interaction of contractile activity and training history on mRNA abundance in skeletal muscle from trained athletes

Skeletal muscle displays enormous plasticity to respond to contractile activity with muscle from strength- (ST) and endurance-trained (ET) athletes representing diverse states of the adaptation continuum. Training adaptation can be viewed as the accumulation of specific proteins. Hence, the altered gene expression that allows for changes in protein concentration is of major importance for any training adaptation. Accordingly, the aim of the present study was to quantify acute subcellular responses in muscle to habitual and unfamiliar exercise. After 24-h diet/exercise control, 13 male subjects (7 ST and 6 ET) performed a random order of either resistance (8 x 5 maximal leg extensions) or endurance exercise (1 h of cycling at 70% peak O2 uptake). Muscle biopsies were taken from vastus lateralis at rest and 3 h after exercise. Gene expression was analyzed using real-time PCR with changes normalized relative to preexercise values. After cycling exercise, peroxisome proliferator-activated receptor- coactivator-1 (ET 8.5-fold, ST 10-fold, P < 0.001), pyruvate dehydrogenase kinase-4 (PDK-4; ET 26-fold, ST 39-fold), vascular endothelial growth factor (VEGF; ET 4.5-fold, ST 4-fold), and muscle atrophy F-box protein (MAFbx) (ET 2-fold, ST 0.4-fold) mRNA increased in both groups, whereas MyoD (3-fold), myogenin (0.9-fold), and myostatin (2-fold) mRNA increased in ET but not in ST (P < 0.05). After resistance exercise PDK-4 (7-fold, P < 0.01) and MyoD (0.7-fold) increased, whereas MAFbx (0.7-fold) and myostatin (0.6-fold) decreased in ET but not in ST. We conclude that prior training history can modify the acute gene responses in skeletal muscle to subsequent exercise.

3D haptic needle insertion simulator utilising an agent based spherical voxel model

This paper describes a technique for the real-time modeling of deformable tissue. Specifically geared towards needle insertion simulation, the low computational requirements of the model enable highly accurate haptic feedback to a user without introducing noticeable time delay or buzzing generally associated with haptic surgery simulation. Using a spherical voxel array combined with aspects of computational geometry and agent communication and interaction principals, the model is capable of providing haptic update rates of over 1000Hz with real-time visual feedback. Iterating through over 1000 voxels per millisecond to determine collision and haptic response while making use of Vieta’s Theorem for extraneous force culling.