Serious games for rehabilitation using head-mounted display and haptic devices

In the health domain, the field of rehabilitation suffers from a lack specialized staff while hospital costs only increase. Worse, almost no tools are dedicated to motivate patients or help the personnel to carry out monitoring of therapeutic exercises. This paper demonstrates the high potential that can bring the virtual reality with a platform of serious games for the rehabilitation of the legs involving a head-mounted display and haptic robot devices. We first introduce SG principles and the current context regarding rehabilitation interventions followed by the description of an original haptic device called Lambda Health System. The architecture of the model is then detailed, including communication specifications showing that lag is imperceptible for user (60Hz). Finally, four serious games for rehabilitation using haptic robots and/or HMD were tested by 33 health specialists.

Virtual technology and haptic interface solutions for design and control of mobile working machines

Commercially available haptic interfaces are usable for many purposes. However, as generic devices they are not the most suitable for the control of heavy duty mobile working machines like mining machines, container handling equipment and excavators. Alternative mechanical constructions for a haptic controller are presented and analysed. A virtual reality environment (VRE) was built to test the proposed haptic controller mechanisms. Verification of an electric motor emulating a hydraulic pump in the electro-hydraulic system of a mobile working machine is carried out. A real-time simulator using multi-body-dynamics based software with hardware-in-loop (HIL) setup was used for the tests. Recommendations for further development of a haptic controller and emulator electric motor are given.

Novel control, haptic and calibration methods for teleoperated electrohydraulic servo systems

The aim of this thesis is to propose a novel control method for teleoperated electrohydraulic servo systems that implements a reliable haptic sense between the human and manipulator interaction, and an ideal position control between the manipulator and the task environment interaction. The proposed method has the characteristics of a universal technique independent of the actual control algorithm and it can be applied with other suitable control methods as a real-time control strategy. The motivation to develop this control method is the necessity for a reliable real-time controller for teleoperated electrohydraulic servo systems that provides highly accurate position control based on joystick inputs with haptic capabilities. The contribution of the research is that the proposed control method combines a directed random search method and a real-time simulation to develop an intelligent controller in which each generation of parameters is tested on-line by the real-time simulator before being applied to the real process. The controller was evaluated on a hydraulic position servo system. The simulator of the hydraulic system was built based on Markov chain Monte Carlo (MCMC) method. A Particle Swarm Optimization algorithm combined with the foraging behavior of E. coli bacteria was utilized as the directed random search engine. The control strategy allows the operator to be plugged into the work environment dynamically and kinetically. This helps to ensure the system has haptic sense with high stability, without abstracting away the dynamics of the hydraulic system. The new control algorithm provides asymptotically exact tracking of both, the position and the contact force. In addition, this research proposes a novel method for re-calibration of multi-axis force/torque sensors. The method makes several improvements to traditional methods. It can be used without dismantling the sensor from its application and it requires smaller number of standard loads for calibration. It is also more cost efficient and faster in comparison to traditional calibration methods. The proposed method was developed in response to re-calibration issues with the force sensors utilized in teleoperated systems. The new approach aimed to avoid dismantling of the sensors from their applications for applying calibration. A major complication with many manipulators is the difficulty accessing them when they operate inside a non-accessible environment; especially if those environments are harsh; such as in radioactive areas. The proposed technique is based on design of experiment methodology. It has been successfully applied to different force/torque sensors and this research presents experimental validation of use of the calibration method with one of the force sensors which method has been applied to.

Astringency and other oral sensations : biological sources of individual variation and association with food and beverage behaviour

Orosensory perception strongly influences liking and consumption of foods and beverages. This thesis examines the influence of biological sources of individual variation on the perception of prototypical orosensory stimuli, food liking, self-reported alcohol liking and consumption, and indices of health. Two orosensory indices were examined: propylthiouracil (PROP) responsiveness, a genetically-mediated index of individual variation associated with enhanced responsiveness to orosensory stimuli often expressed as PROP taster status (PTS); and thermal taster status (TTS), a recently reported index of orosensory responsiveness. Taster status in PTS and/or TTS confers greater responsiveness to most orosensory stimuli. Gender, age, ethnicity, and fungiform papillae (FP) density were not associated with orosensory responsiveness to tastants, an astringent, and a flavour. Unlike PROP responsiveness, FP density was not associated with TTS. Both PROP responsiveness and TTS were associated with increased responsiveness to orosensory stimuli, including temperature and astringency. For PROP, this association did not hold when stimuli were presented at cold or warm temperatures, which are ecologically valid since most foods and beverages are not consumed at ambient temperature. Thermal tasters (TTs), who perceive 'phantom' taste sensations with lingual thermal stimulation, were more responsive to stimuli at both temperatures than thermal non-tasters (TnTs). While PTS, TIS, and gender affected self-reported liking and consumption of some alcoholic beverages, gender associated with the greatest number of beverage types and consumption parameters, with males generally liking and consuming alcoholic beverages more than females. Age and gender were the best predictors of alcoholic beverageAiking and consumption. As expected, .. liking of bitter and fatty foods and cream was inversely related to PROP responsiveness. TTS did not associate with body mass index or waist circumference, and contrary to previous studies, neither did PROP responsiveness. Taken together, TnTs' greater liking of cooked fruits and vegetables and high alcohol, and astringent alcoholic beverages than TTs suggests differences between TTS groups may be driven by perceived temperature and texture. Neither an interaction between PTS and TTS nor a TTS effect on PROP responsiveness was observed, suggesting these two indices of individual variation exert their influences on orosensory perception independently.

Sensations d'Italie : Toscane, Ombrie, Grande-Grece

UANL

Facteurs influencing haptic shape perception

Le but de cette étude était de déterminer la contribution de plusieurs facteurs (le design de la tâche, l’orientation d’angle, la position de la tête et du regard) sur la capacité des sujets à percevoir les différences de formes bidimensionnelles (2-D) en utilisant le toucher haptique. Deux séries d'expériences (n = 12 chacune) ont été effectuées. Dans tous les cas, les angles ont été explorés avec l'index du bras tendu. La première expérience a démontré que le seuil de discrimination des angles 2-D a été nettement plus élevé, 7,4°, que le seuil de catégorisation des angles 2-D, 3,9°. Ce résultat étend les travaux précédents, en montrant que la différence est présente dans les mêmes sujets testés dans des conditions identiques (connaissance des résultats, conditions d'essai visuel, l’orientation d’angle). Les résultats ont également montré que l'angle de catégorisation ne varie pas en fonction de l'orientation des angles dans l'espace (oblique, verticale). Étant donné que les angles présentés étaient tous distribués autour de 90°, ce qui peut être un cas particulier comme dans la vision, cette constatation doit être étendue à différentes gammes d'angles. Le seuil plus élevé dans la tâche de discrimination reflète probablement une exigence cognitive accrue de cette tâche en demandant aux sujets de mémoriser temporairement une représentation mentale du premier angle exploré et de la comparer avec le deuxième angle exploré. La deuxième expérience représente la suite logique d’une expérience antérieure dans laquelle on a constaté que le seuil de catégorisation est modifié avec la direction du regard, mais pas avec la position de la tête quand les angles (non visibles) sont explorés en position excentrique, 60° à la droite de la ligne médiane. Cette expérience a testé l'hypothèse que l'augmentation du seuil, quand le regard est dirigé vers l'extrême droite, pourrait refléter une action de l'attention spatiale. Les sujets ont exploré les angles situés à droite de la ligne médiane, variant systématiquement la direction du regard (loin ou vers l’angle) de même que l'emplacement d'angle (30° et 60° vers la droite). Les seuils de catégorisation n’ont démontré aucun changement parmi les conditions testées, bien que le biais (point d'égalité subjective) ait été modifié (décalage aux valeurs inférieurs à 90°). Puisque notre test avec le regard fixé à l’extrême droite (loin) n'a eu aucun effet sur le seuil, nous proposons que le facteur clé contribuant à l'augmentation du seuil vu précédemment (tête tout droit/regard à droite) doit être cette combinaison particulière de la tête/regard/angles et non l’attention spatiale.

Perception du risque et prise de risque chez les adeptes de planche à roulettes : approche sociale cognitive et recherche impulsive de sensations

Mémoire numérisé par la Division de la gestion de documents et des archives de l'Université de Montréal

Experiences, sensations and demands of citizen (in)security: recent complex configurations in Argentina

Over the last decades the issue of insecurity due to an increase in crime rates and its possible impact on the stability of Latin American democracies has sparked an ongoing debate. In this context, the present article studies, for the case of Argentina, how experiences and sensations of insecurity may be articulated to demands for greater punitive rigor. The analysis is based on two types of information. Initially, data from international surveys such as Latinoabarometer are considered. Then, these are compared to data from prolonged on-site observations in a poor neighborhood of a mid-sized Argentine city. The combination of these different types of data shows the complexity of the process. Contrary to what is often assumed, experiences and sensations of insecurity do not lineally lead to demands for greater punitive rigor. The way in which social actors elaborate their experiences of insecurity is highly situational and not systematic. We have found that there is not necessarily a consistent process of ‘meaning construction’ that articulates experiences and sensations of insecurity with political demands.

Dental training system using haptic technology

In the U.K., dental students require to perform training and practice on real human tissues at the very early stage of their courses. Currently, the human tissues, such as decayed teeth, are mounted in a human head like physical model. The problems with these models in teaching are; (1) every student operates on tooth, which are always unique; (2) the process cannot be recorded for examination purposes and (3) same training are not repeatable. The aim of the PHATOM Project is to develop a dental training system using Haptic technology. This paper documents the project background, specification, research and development of the first prototype system. It also discusses the research in the visual display, haptic devices and haptic rendering. This includes stereo vision, motion parallax, volumetric modelling, surface remapping algorithms as well as analysis design of the system. A new volumetric to surface model transformation algorithm is also introduced. This paper includes the future work on the system development and research.

High bandwidth, large workspace haptic interaction: flying phantoms

It is well understood that for haptic interaction: free motion performance and closed-loop constrained motion performance have conflicting requirements. The difficulties for both conditions are compounded when increased workspace is required as most solutions result in a reduction of achievable impedance and bandwidth. A method of chaining devices together to increase workspace without adverse effect on performance is described and analysed. The method is then applied to a prototype, colloquially known as 'The Flying Phantom', and shown to provide high-bandwidth, low impedance interaction over the full range of horizontal movement across the front of a human user.

Perceptual cues for orientation in a two finger haptic grasp task

Single point interaction haptic devices do not provide the natural grasp and manipulations found in the real world, as afforded by multi-fingered haptics. The present study investigates a two-fingered grasp manipulation involving rotation with and without force feedback. There were three visual cue conditions: monocular, binocular and projective lighting. Performance metrics of time and positional accuracy were assessed. The results indicate that adding haptics to an object manipulation task increases the positional accuracy but slightly increases the overall time taken.

Extending the friction cone algorithm for arbitrary polygon based haptic objects

Most haptic environments are based on single point interactions whereas in practice, object manipulation requires multiple contact points between the object, fingers, thumb and palm. The Friction Cone Algorithm was developed specifically to work well in a multi-finger haptic environment where object manipulation would occur. However, the Friction Cone Algorithm has two shortcomings when applied to polygon meshes: there is no means of transitioning polygon boundaries or feeling non-convex edges. In order to overcome these deficiencies, Face Directed Connection Graphs have been developed as well as a robust method for applying friction to non-convex edges. Both these extensions are described herein, as well as the implementation issues associated with them.