Extending haptic device capability for 3D virtual grasping

This paper presents an investigation into the workspace constraints observed through the use of multiple single point haptic interfaces, which lead to the design of a novel grasping device that improves upon current commercial haptic interfaces. The presented device is desktop based, and has been designed to maximise the haptic workspace while offering the ability to grasp and manipulate virtual objects, which is a function that current commercial interfaces are limited in providing. The performance of the commercial haptic interface in producing sustained effective operation and increased workspace with the attached haptic gripper is evaluated, and the improvement of both has been determined.

Intuitive haptic control surface for mobile robot motion control

Haptic human-machine interfaces and similar techniques to enhancing human-robotic interaction offer significant potential over conventional approaches. This work considers achieving intuitive motion control of a tracked mobile robotic platform utilising a 3D virtual haptic cone. The 3D haptic cone extends upon existing approaches by introducing of a third dimension to the haptic control surface. It is suggested that this approach improves upon existing methods by providing the human operator with an intuitive method for issuing vehicle motion commands whilst still facilitating simultaneous real-time haptic augmentation regarding the task at hand. The presented approach is considered in the context of mobile robotic teleoperation however offers potential across many applications. Using the 2D haptic control surface as a benchmark, preliminary evaluation of the 3D haptic cone approach demonstrates a significant improvement in the ability to command the robot to cease motion.

Intuitive haptic control surface for mobile robot motion control

Haptic human-machine interfaces and similar techniques to enhancing human-robotic interaction offer significant potential over conventional approaches. This work considers achieving intuitive motion control of a tracked mobile robotic platform utilising a 3D virtual haptic cone. The 3D haptic cone extends upon existing approaches by introducing of a third dimension to the haptic control surface. It is suggested that this approach improves upon existing methods by providing the human operator with an intuitive method for issuing vehicle motion commands whilst still facilitating simultaneous real-time haptic augmentation regarding the task at hand. The presented approach is considered in the context of mobile robotic teleoperation however offers potential across many applications. Using the 2D haptic control surface as a benchmark, preliminary evaluation of the 3D haptic cone approach demonstrates a significant improvement in the ability to command the robot to cease motion.

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.

Exploiting ungrounded tactile haptic displays for mobile robotic teleoperation

Teleoperated mobile robotics offer potential use in a variety of different real-world applications including hazardous materials handling, urban search and rescue and explosive ordnance handling and disposal. Recent research discusses the use of Haptic technology in increasing task immersion and teleoperator performance. This work investigates the utility of low-cost, ungrounded tactile haptic interfaces in mobile robotic teleoperation. In order to achieve the desired implementation using only tactile sensation presents distinct challenges. Innovative haptic control methodologies providing the teleoperator with intuitive motion control and task-relevant haptic augmentation are presented within this paper.

Exploiting ungrounded tactile haptic displays for mobile robotic teleoperation

Teleoperated mobile robotics offer potential use in a variety of different real-world applications including hazardous materials handling, urban search and rescue and explosive ordnance handling and disposal. Recent research discusses the use of Haptic technology in increasing task immersion and teleoperator performance. This work investigates the utility of low-cost, ungrounded tactile haptic interfaces in mobile robotic teleoperation. In order to achieve the desired implementation using only tactile sensation presents distinct challenges. Innovative haptic control methodologies providing the teleoperator with intuitive motion control and task-relevant haptic augmentation are presented within this paper.

3D virtual haptic cone for intuitive vehicle motion control

Haptic technology provides the ability for a system to recreate the sense of touch to a human operator, and as such offers wide reaching advantages. The ability to interact with the human's tactual modality introduces haptic human-machine interaction to replace or augment existing mediums such as visual and audible information. A distinct advantage of haptic human-machine interaction is the intrinsic bilateral nature, where information can be communicated in both directions simultaneously. This paper investigates the bilateral nature of the haptic interface in controlling the motion of a remote (or virtual) vehicle and presents the ability to provide an additional dimension of haptic information to the user over existing approaches [1-4]. The 3D virtual haptic cone offers the ability to not only provide the user with relevant haptic augmentation pertaining to the task at hand, as do existing approaches, however, to also simultaneously provide an intuitive indication of the current velocities being commanded.

Domestic violence and child protection : partnerships and collaboration

The interface between the child protection and domestic violence sectors is often problematic, in that the two sectors operate relatively independently, with little integration. However, it is widely recognised that these sectors need to work more closely to enhance both women's and children's safety. This paper explores the processes needed for the child protection and domestic violence sectors to develop collaborative partnerships that lead to the provision of higher-quality responses to both women and children. Drawing on collaboration theory, a number of barriers to the development of successful partnerships are described, and applied to initiatives that seek to develop integrated approaches between child protection and domestic violence services. It is concluded that there is much scope for the two sectors to work closely together, but that the development of integrated responses involving both child protection and domestic violence services will take a significant commitment, level of determination, and stamina from both parties.

Addressing evidence treatment gaps for cardiovascular disease through primary care collaboration

Aims & Rationale/Objectives
The aim is to establish the frequency of counselling by general practitioners (GPs) and community pharmacists (CPs) for patients with uncontrolled CVD risk factors. This will identify conditions for which CPs might collaborate with GPs in addressing evidence-treatment gaps.

Methods
A population survey undertaken in the Wimmera region of Victoria in 2006. 1425 adults aged 25-84 yrs were randomly selected using age/sex stratified electoral role samples. A representative 723 participants were recruited.

Principal Findings
Data on GP and CP visits were available for 694 participants. Overall, participants visited GPs 4.6 times and CPs 6.0 times/annum. However, one third of participants never consulted a pharmacist in 12 months compared to just 11.5% for GPs. Among obese patients (BMI ?? 30), the average number of visits/annum was 4.5 to GPs and 6.8 to CPs. The equivalent numbers were 5.6 and 8.6 respectively for those with systolic BP ?? 140 mmHg; 3.7 and 5.5 for total cholesterol > 5.0 mmol/L; and, 6.7 and 14.6 for patients with random blood glucose concentrations ?? 7.0 mmol/L.

Implications
People with suboptimal status for most common CVD risk factor are counselled frequently by CPs. A coordinated approach with GPs to the delivery of cardiovascular health promotion could provide valuable reinforcement of key messages and offers greater opportunity to identify at-risk individuals. Acknowledgements: KM is a pharmacist-academic at Greater Green Triangle UDRH, a position funded by the Department of Health and Ageing through the Rural and Remote Pharmacy Workforce Development Program