Modelling human dynamics in-situ for rehabilitation and therapy robots

This paper outlines some rehabilitation applications of manipulators and identifies that new approaches demand that the robot make an intimate contact with the user. Design of new generations of manipulators with programmable compliance along with higher level controllers that can set the compliance appropriately for the task, are both feasible propositions. We must thus gain a greater insight into the way in which a person interacts with a machine, particularly given that the interaction may be non-passive. We are primarily interested in the change in wrist and arm dynamics as the person co-contracts his/her muscles. It is observed that this leads to a change in stiffness that can push an actuated interface into a limit cycle. We use both experimental results gathered from a PHANToM haptic interface and a mathematical model to observe this effect. Results are relevant to the fields of rehabilitation and therapy robots, haptic interfaces, and telerobotics

Modelling of surface identifying characteristics using Fourier series

Texture and small-scale surface details are widely recognised as playing an important role in the haptic identification of objects. In order to simulate realistic textures in haptic virtual environments, it has become increasingly necessary to identify a robust technique for modelling of surface profiles. This paper describes a method whereby Fourier series spectral analysis is employed in order to describe the measured surface profiles of several characteristic surfaces. The results presented suggest that a bandlimited Fourier series can be used to provide a realistic approximation to surface amplitude profiles.

The use of cursor measures for motion-impaired computer users

“Point and click” interactions remain one of the key features of graphical user interfaces (GUIs). People with motion-impairments, however, can often have difficulty with accurate control of standard pointing devices. This paper discusses work that aims to reveal the nature of these difficulties through analyses that consider the cursor’s path of movement. A range of cursor measures was applied, and a number of them were found to be significant in capturing the differences between able-bodied users and motion-impaired users, as well as the differences between a haptic force feedback condition and a control condition. The cursor measures found in the literature, however, do not make up a comprehensive list, but provide a starting point for analysing cursor movements more completely. Six new cursor characteristics for motion-impaired users are introduced to capture aspects of cursor movement different from those already proposed.

Using cursor measures to determine appropriate computer input assistance for motion-impaired users

People with motion-impairments can often have difficulty with accurate control of standard pointing devices for computer input. The nature of the difficulties may vary, so to be most effective, methods of assisting cursor control must be suited to each user's needs. The work presented here involves a study of cursor trajectories as a means of assessing the requirements of motion-impaired computer users. A new cursor characteristic is proposed that attempts to capture difficulties with moving the cursor in a smooth trajectory. A study was conducted to see if haptic tunnels could improve performance in "point and click" tasks. Results indicate that the tunnels reduced times to target for those users identified by the new characteristic as having the most difficulty moving in a smooth trajectory. This suggests that cursor characteristics have potential applications in performing assessments of a user's cursor control capabilities which can then be used to determine appropriate methods of assistance.

Perception and haptics

For people with motion impairments, access to and independent control of a computer can be essential. Symptoms such as tremor and spasm, however, can make the typical keyboard and mouse arrangement for computer interaction difficult or even impossible to use. This paper describes three approaches to improving computer input effectivness for people with motion impairments. The three approaches are: (1) to increase the number of interaction channels, (2) to enhance commonly existing interaction channels, and (3) to make more effective use of all the available information in an existing input channel. Experiments in multimodal input, haptic feedback, user modelling, and cursor control are discussed in the context of the three approaches. A haptically enhanced keyboard emulator with perceptive capability is proposed, combining approaches in a way that improves computer access for motion impaired users.

Haptics in medicine and clinical skill acquisition

THE clinical skills of medical professionals rely strongly on the sense of touch, combined with anatomical and diagnostic knowledge. Haptic exploratory procedures allow the expert to detect anomalies via gross and fine palpation, squeezing, and contour following. Haptic feedback is also key to medical interventions, for example when an anaesthetist inserts an epidural needle, a surgeon makes an incision, a dental surgeon drills into a carious lesion, or a veterinarian sutures a wound. Yet, current trends in medical technology and training methods involve less haptic feedback to clinicians and trainees. For example, minimally invasive surgery removes the direct contact between the patient and clinician that gives rise to natural haptic feedback, and furthermore introduces scaling and rotational transforms that confuse the relationship between movements of the hand and the surgical site. Similarly, it is thought that computer-based medical simulation and training systems require high-resolution and realistic haptic feedback to the trainee for significant training transfer to occur. The science and technology of haptics thus has great potential to affect the performance of medical procedures and learning of clinical skills. This special section is about understanding

Potential sources of mouth drying in beverages fortified with dairy proteins: a comparison of casein and whey-rich ingredients

Oral nutritional supplement drinks (ONS) are beverages high in dairy proteins that are prescribed to individuals at risk of malnutrition. Consumption of ONS is poor in elderly care facilities, with patients commenting that the sensory attributes of these drinks reduce their enjoyment and willingness to consume. Mouth drying is an attribute of ONS found to build with repeated consumption, which may further limit liking of these products. This study investigated the sources of drying sensations by sequential profiling, with a trained sensory panel rating a range of model milk systems and ONS over repeated sips and during after-effects. Sequential profiling found that fortification of milk with both caseinate and whey protein concentrate significantly increased the perception of mouth drying over repeated consumption, increasing by between 35 and 85% over consumption of 40mL. Enrichment of ONS with either whey protein concentrate or milk protein concentrate to a total protein content of 8.7% (wt/wt) resulted in whey and casein levels of 4.3:4.4% and 1.7:7.0% respectively. The product higher in whey protein was substantially more mouth drying, implying that whey proteins may be the most important contributor to mouth drying in ONS. However, efforts to mask mouth drying of protein-fortified milk by increasing sweetness or fat level were unsuccessful at the levels tested. Increasing the viscosity of protein-fortified milk led to a small but significant reduction in mouth drying. However, this approach was not successful when tested within complete ONS. Further analysis is required into the mechanism of protein-derived mouth drying to mask negative sensations and improve the enjoyment and consumption of protein-rich ONS.

Effect of cinnamon on gastric emptying, arterial stiffness, postprandial lipemia, glycemia, and appetite responses to high-fat breakfast

Abstract BACKGROUND: Cinnamon has been shown to delay gastric emptying of a high-carbohydrate meal and reduce postprandial glycemia in healthy adults. However, it is dietary fat which is implicated in the etiology and is associated with obesity, type 2 diabetes and cardiovascular disease. We aimed to determine the effect of 3 g cinnamon (Cinnamomum zeylanicum) on GE, postprandial lipemic and glycemic responses, oxidative stress, arterial stiffness, as well as appetite sensations and subsequent food intake following a high-fat meal. METHODS: A single-blind randomized crossover study assessed nine healthy, young subjects. GE rate of a high-fat meal supplemented with 3 g cinnamon or placebo was determined using the 13C octanoic acid breath test. Breath, blood samples and subjective appetite ratings were collected in the fasted and during the 360 min postprandial period, followed by an ad libitum buffet meal. Gastric emptying and 1-day fatty acid intake relationships were also examined. RESULTS: Cinnamon did not change gastric emptying parameters, postprandial triacylglycerol or glucose concentrations, oxidative stress, arterial function or appetite (p < 0.05). Strong relationships were evident (p < 0.05) between GE Thalf and 1-day palmitoleic acid (r = -0.78), eiconsenoic acid (r = -0.84) and total omega-3 intake (r = -0.72). The ingestion of 3 g cinnamon had no effect on GE, arterial stiffness and oxidative stress following a HF meal. CONCLUSIONS: 3 g cinnamon did not alter the postprandial response to a high-fat test meal. We find no evidence to support the use of 3 g cinnamon supplementation for the prevention or treatment of metabolic disease. Dietary fatty acid intake requires consideration in future gastrointestinal studies.

Multi-finger grasps in a dynamic environment

Most current state-of-the-art haptic devices render only a single force, however almost all human grasps are characterised by multiple forces and torques applied by the fingers and palms of the hand to the object. In this chapter we will begin by considering the different types of grasp and then consider the physics of rigid objects that will be needed for correct haptic rendering. We then describe an algorithm to represent the forces associated with grasp in a natural manner. The power of the algorithm is that it considers only the capabilities of the haptic device and requires no model of the hand, thus applies to most practical grasp types. The technique is sufficiently general that it would also apply to multi-hand interactions, and hence to collaborative interactions where several people interact with the same rigid object. Key concepts in friction and rigid body dynamics are discussed and applied to the problem of rendering multiple forces to allow the person to choose their grasp on a virtual object and perceive the resulting movement via the forces in a natural way. The algorithm also generalises well to support computation of multi-body physics

The “pain matrix” in pain-free individuals

Human functional imaging provides a correlative picture of brain activity during pain. A particular set of central nervous system structures (eg, the anterior cingulate cortex, thalamus, and insula) consistently respond to transient nociceptive stimuli causing pain. Activation of this so-called pain matrix or pain signature has been related to perceived pain intensity, both within and between individuals,1,2 and is now considered a candidate biomarker for pain in medicolegal settings and a tool for drug discovery. The pain-specific interpretation of such functional magnetic resonance imaging (fMRI) responses, although logically flawed,3,4 remains pervasive. For example, a 2015 review states that “the most likely interpretation of activity in the pain matrix seems to be pain.”4 Demonstrating the nonspecificity of the pain matrix requires ruling out the presence of pain when highly salient sensory stimuli are presented. In this study, we administered noxious mechanical stimuli to individuals with congenital insensitivity to pain and sampled their brain activity with fMRI. Loss-of-function SCN9A mutations in these individuals abolishes sensory neuron sodium channel Nav1.7 activity, resulting in pain insensitivity through an impaired peripheral drive that leaves tactile percepts fully intact.5 This allows complete experimental disambiguation of sensory responses and painful sensations

A influência da informação háptica do gênero e do conhecimento da categoria nas percepções de risco, qualidade e confiança

A literatura de marketing aponta que os indivíduos diferem quanto à necessidade de tocar os objetos. A informação obtida fazendo uso das mãos – ou informação háptica – é relevante na avaliação dos produtos. Este estudo buscar avaliar se a necessidade de tocar (NFT, do inglês need for touch) afeta a confiança na avaliação do produto à venda, na sua qualidade percebida e no risco percebido com a compra, considerando duas diferentes situações de compra: quando o produto é comprado para uso próprio e quando o produto é comprado como um presente para outra pessoa. Esta pesquisa também examina o efeito moderador do gênero e do conhecimento prévio sobre a categoria de produto. Um experimento foi conduzido usando amostra por conveniência composta de 171 homens e 153 mulheres estudantes de graduação. As escalas foram testadas com análise fatorial confirmatória e atingiram adequação satisfatória. As hipóteses foram testadas usando regressão linear múltipla. A confiança na avaliação foi influenciada positivamente pelo conhecimento do produto e pela situação de compra, sendo maior quando o produto é para uso próprio. A qualidade percebida sofreu os efeitos do conhecimento do produto e do gênero – as mulheres percebem menor qualidade do que os homens. O risco percebido foi influenciado de forma significativa pela situação de compra, sendo maior quando a compra é para presente. Os resultados mostraram que NFT não tem impacto direto no risco percebido, mas por meio da sua interação com o gênero. Portanto, este estudo não encontrou influência direta da NFT nas variáveis dependentes, sugerindo que outros aspectos podem prevalecer sobre os efeitos da NFT nos processos de decisão de compra.

Dream characteristics in a Brazilian sample: an online survey focusing on lucid dreaming

During sleep, humans experience the offline images and sensations that we call dreams, which are typically emotional and lacking in rational judgment of their bizarreness. However, during lucid dreaming (LD), subjects know that they are dreaming, and may control oneiric content. Dreaming and LD features have been studied in North Americans, Europeans and Asians, but not among Brazilians, the largest population in Latin America. Here we investigated dreams and LD characteristics in a Brazilian sample (n=3,427; median age=25 years) through an online survey. The subjects reported recalling dreams at least once a week (76%), and that dreams typically depicted actions (93%), known people (92%), sounds/voices (78%), and colored images (76%). The oneiric content was associated with plans for the upcoming days (37%), memories of the previous day (13%), or unrelated to the dreamer (30%). Nightmares usually depicted anxiety/fear (65%), being stalked (48%), or other unpleasant sensations(47%). These data corroborate Freudian notion of day residue in dreams, and suggest that dreams and nightmares are simulations of life situations that are related to our psychobiological integrity. Regarding LD, we observed that 77% of the subjects experienced LD at least once in life (44% up to 10 episodes ever), and for 48% LD subjectively lasted less than 1 min. LD frequency correlated weakly with dream recall frequency (r =0.20,p< 0.01), and LD control was rare (29%). LD occurrence was facilitated when subjects did not need to wake up early (38%), a situation that increases rapid eye movement sleep (REMS) duration, or when subjects were under stress (30%), which increases REMS transitions into waking. These results indicate that LD is relatively ubiquitous but rare, unstable, difficult to control, and facilitated by increases in REMS duration and transitions to wake state. Together with LD incidence in USA, Europe and Asia, our data from Latin America strengthen the notion that LD is a general phenomenon of the human species.

Análise bioclimática e investigação do conforto térmico em ambientes externos: uma experiência no bairro de Petrópolis em Natal/RN

This study was intended to investigate how the urban form has been influencing the changes in the climate of the city and make a correlation between the climate and the thermal sensation of the users of open spaces. The research was developed in the district of Petrópolis in Natal/ RN whose occupation has been almost consolidated. Among other reasons, this district was selected because it was planned considering the environmental aspects of comfort. The methodologies used are based on KATZSCHNER (1997) and OLIVEIRA (1988) studies, which suggest the drawing and analysis of maps of the area under study, including topography, height of the buildings, land use, green areas, and types of soil pavement, as well as measurement of the environmental variables: air temperature, relative humidity, direction and wind speed for a comparative study. As part of this, study local users of the district were interviewed about their thermal sensations in open spaces. For the statistical analysis, data was collected at 10 distinct points characterized by BUSTOS ROMERO (2002), being 8 within the district and 2 at different places (outside the district), at climatologic stations, in 3 periods (August/2000, January/2002 and June/2002), for 4 consecutive days for each measurement (from Sunday to Wednesday) at the time of lower and higher temperatures in the city, 6:00 am and 1:00 pm, respectively. At the same time interviews were carried out with users of the open spaces in the area, totaling 171 valid formularies. The urban form showed a rather leveled topography, great diversity of land use and height of the buildings, with the existence of an area mostly occupied with high buildings, very little green area and soil practically impermeable. The statistical analysis showed high temperature and humidity levels. The wind direction is predominantly Southeast with extremely variable speeds. When the data from this district is compared with the data from other areas in the city and its outskirt, it was observed that this district is hotter and less ventilated than the others; besides, most users said that they felt uncomfortable in the local environmental conditions. The results of the analysis generated a zoning for the district with recommendations for soil occupation. The profile of the user was defined regarding the thermal comfort, as well as some discussion about the comfort parameters, including the proposal of limiting areas of temperature and humidity for the thermal comfort in the open spaces

Beco da lama: formas e cores de uma plástica da vida

Our research goes a remarkable setting of Natal-RN. This is a place where we find art practices and artworks territorialities building the margin of museums, art galleries and institutional galleries. Its geography includes an area popularly known as Mud Alley. Along geography that we critically about how some processes of sociability, which formed the margins of institutional fields, can, and its progeny, compose new possibilities to relate to art and artistic practices. Thinking about the dialogues and clashes that positioning the margins can offer, we investigated the role of bookstores, bars and other spaces of the Alley in the promotion and dissemination of artistic practices, focusing on how these spaces handle the work, the artists and the patrons Beco da Lama. Our integration into the search field resulted in collecting testimonials, pictures and watching expressions which, together with sensations obtained during the years of integration in that setting, help make our empirical material. To follow us methodologically this investigation, we looked at a higher frequency, a theoretical support of authors: Gilles Deleuze, Félix Guattari and Giorgio Agamben. With them compose an investigative diagram to think about the art of Alley, noting the relationship of the Alley with the established field of art, as well as towards the rest of the city. The results point to the view of a singular event that shows artistic practices writing in the margins of institutional spaces, new territoriality for contact with art. The term territoriality points to situations formed by practices, feelings, wishes, expressions, and poetic subjectivity that can tell us we are confronted with an event comprising it as the moment of realization of potentialities, desires, subjectivities and spatialities training, flocks, movements. In our case, the event while the Mud Alley Alley Arts forced us to rethink the role and the place of art and artist in Natal-RN