Impedance mismatch: some differences between the way humans and robots control interaction forces

In over forty years of research robots have made very little progress still largely confined to industrial manufacture and cute toys, yet in the same period computing has followed Moores Law where the capacity double roughly every two years. So why is there no Moores Law for robots? Two areas stand out as worthy of research to speedup progress. The first is to get a greater understanding of how human and animal brains control movement, the second to build a new generation of robots that have greater haptic sense, that is a better ability to adapt to the environment as it is encountered. A remarkable property of the cognitive-motor system in humans and animals is that it is slow. Recognising an object may take 250 mS, a reaction time of 150 mS is considered fast. Yet despite this slow system we are well designed to allow contact with the world in a variety of ways. We can anticipate an encounter, use the change of force as a means of communication and ignore sensory cues when they are not relevant. A better understanding of these process has allowed us to build haptic interfaces to mimic the interaction. Emerging from this understanding are new ways to control the contact between robots, the user and the environment. Rehabilitation robotics has all the elements in the subject to not only enable and change the lives of people with disabilities, but also to facilitate revolution change in classic robotics.

A decade of research and development in disability, virtual reality and associated technologies: review of ICDVRAT 1996−2006

The International Conference (series) on Disability, Virtual Reality and Associated Technologies (ICDVRAT) this year held its sixth biennial conference, celebrating ten years of research and development in this field. A total of 220 papers have been presented at the first six conferences, addressing potential, development, exploration and examination of how these technologies can be applied in disabilities research and practice. The research community is broad and multi-disciplined, comprising a variety of scientific and medical researchers, rehabilitation therapists, educators and practitioners. Likewise, technologies, their applications and target user populations are also broad, ranging from sensors positioned on real world objects to fully immersive interactive simulated environments. A common factor is the desire to identify what the technologies have to offer and how they can provide added value to existing methods of assessment, rehabilitation and support for individuals with disabilities. This paper presents a brief review of the first decade of research and development in the ICDVRAT community, defining technologies, applications and target user populations served.

Generating virtual environments to allow increased access to the built environment

The problems encountered by individuals with disabilities when accessing large public buildings is described and a solution based on the generation of virtual models of the built environment is proposed. These models are superimposed on a control network infrastructure, currently utilised in intelligent building applications such as lighting, heating and access control. The use of control network architectures facilitates the creation of distributed models that closely mirror both the physical and control properties of the environment. The model of the environment is kept local to the installation which allows the virtual representation of a large building to be decomposed into an interconnecting series of smaller models. This paper describes two methods of interacting with the virtual model, firstly a two dimensional aural representation that can be used as the basis of a portable navigational device. Secondly an augmented reality called DAMOCLES that overlays additional information on a user’s normal field of view. The provision of virtual environments offers new possibilities in the man-machine interface so that intuitive access to network based services and control functions can be given to a user.

‘That’s definite discrimination’: practice under the umbrella of inclusion

Inclusive practice is well embedded across society and has developed over time. However, although policy and public view have moved forward, the way organisations address the agenda for inclusion often represents a superficial interpretation of this concept. Qualitative data were gathered using new ethnography to explore the experiences of a library-based reading group for visually impaired readers. The voices of the individuals shed light on the individual and collective experience of reading. These insights challenge the traditional views of distinct provision that are designed to address targets for inclusion of individuals with disabilities. We argue for a clearer focus on the unintentional consequences of practice in the name of inclusion that leave individuals feeling marginalised. This paper suggests the alternative focus on social justice as offering a discourse that focuses on society and away from the individual.

The use and usefulness of a parent questionnaire to help schools identify disability

The Equality Act 2010 will be implemented in full in 2011, and schools in the UK will have to provide special aids or services for children with disabilities where this provision is considered reasonable. This paper reports on staff perspectives on the use and usefulness of a parental questionnaire on disability from a sample of 49 schools (mainstream and special) located in 12 local authorities. Most schools found the process of administering the parent questionnaire undemanding; just under half of the sample indicated that they would take some action as a result of the data collected from the parental questionnaire (e.g., to inform plans for targeting or monitoring support for children, and to contact parents and follow-up issues they had mentioned); and about one-third of schools recorded unanticipated findings from the parental questionnaire, that is, the identification of children whose disabilities were not previously known to the school. Implications for schools are discussed.

Revealing the whiteboard to blind students: An inclusive approach to provide mediation in synchronous e-learning activities

Promoting the inclusion of students with disabilities in e-learning systems has brought many challenges for researchers and educators. The use of synchronous communication tools such as interactive whiteboards has been regarded as an obstacle for inclusive education. In this paper, we present the proposal of an inclusive approach to provide blind students with the possibility to participate in live learning sessions with whiteboard software. The approach is based on the provision of accessible textual descriptions by a live mediator. With the accessible descriptions, students are able to navigate through the elements and explore the content of the class using screen readers. The method used for this study consisted of the implementation of a software prototype within a virtual learning environment and a case study with the participation of a blind student in a live distance class. The results from the case study have shown that this approach can be very effective, and may be a starting point to provide blind students with resources they had previously been deprived from. The proof of concept implemented has shown that many further possibilities may be explored to enhance the interaction of blind users with educational content in whiteboards, and further pedagogical approaches can be investigated from this proposal. (C) 2009 Elsevier Ltd. All rights reserved.

Qualidade de vida e transporte público urbano: estratégias para melhorar a qualidade do serviço de transporte público urbano por ônibus

If urban planning is to support the equitable distribution of public goods and services, it must recognize and address the dismal condition of millions of poor people who are living in a city. The primary focus of contemporary planners and planning students should be on finding and advocating solutions that help eliminate the problems of today¿s cities. Any meaningful solution will need to be grounded in a thorough understanding of the social class inequities of citizens. With the rapid development of national economy and urbanization process in Brazil over the last two decades, the number of vehicles and their travels are dramatically increased. This is particularly evident in all large cities. Traffic congestion becomes more and more severe. Inadequate parking facilities often result in difficulty to find a parking space in large cities and many illegally parked vehicles can be seen on the crowed streets. These illegally parked vehicles further intensify traffic congestion and also pose a traffic safety hazard. The process of urbanization and motorization in Brazil is likely to continue in a rapid pace. The urban public passengers transport modes problems in large cities are likely to get even worse. There is an urgent need for the development of policy and criteria for public service of urban public passenger transport by bus in large cities. The purpose of survey is to develop policy guidelines for public transport services planning, design, construction and mobility management, that meet community needs for accessibility in large cities. So this thesis will present major comparative characteristics of urban mobility management, urban public passengers transport by bus services planning and the quality of social life in two towns of Brazil: Rio de Janeiro and Curitiba. The study case has been focused on Rio de Janeiro and Curitiba because of the major different results of the survey presented by the two cities. The objectives of this thesis are: a) to analyze and discus existing urban mobility related accessibility and economic development problems in large cities; b) to provide an overview of the relationship within city ¿ quality of social life ¿ urban mobility in Rio and Curitiba; c) to analyze and discuss existing urban mobility management related public transport services in Rio and Curitiba; d) to analyze and discuss existing quality of bus public transport services problems in Rio. Some preliminary recommendations for mobility management policies will also be presented.

O desafio de reconhecimento do sujeito cego em espaços públicos de representação

This work is funded based on the uneasiness with the concept of State as a public machine for development. Of State as a public machine to deliberate valid practices for valid methods and to limit valid subjects in valid spaces. In midst of this specific context, this work dedicates itself to investigate the following research problem: the mistaken recognition of the blind subject in public spaces of representation. For this reason, it was addressed the following question: how the blind subject is recognized in public spaces of representation? To answer the question, it was necessary to contextualize how the blind subject is being recognized in various public spaces of representation. In the international scope, the human rights debate held between the National States was analyzed (BRAND, 2005; KOERNER, 2002; UN, 2006). In the national arena, constitutional rights, federal laws, public policies and institutions representing the blind subject were examined (CABRAL, 2008; SARAVIA, 2006). Finally, in a local context, the fundaments of the concept of citizen for the subject recognition were investigated (AGAMBEN, 2002; RORTY, 1999, DELEUZE AND GUATTARI, 1996). The methodology included reports of national and international representatives in the Lusophone Countries Meeting for Dissemination and Implementation of the Convention on the Rights of Persons with Disabilities and, mainly, interviews with blind subjects. The data was processed by content analysis and was discussed based on the following categories: representation spaces; representation modes; representation amplitude; representation premises. The results show, regarding such spaces of representation, the growing importance of thinking the rights of persons with disabilities ¿ group in which belongs the blind subject ¿ as of the international and national scenario. However, the blind subjects announced alternative local spaces for representation: church, internet, radio, etc. Regarding the representation modes, the role of law and standards has been advocated specially in the human rights field. The importance of the cooperation between the States and the civil society to ensure, in practice, the rights achieved was also emphasized. But other forms of representation, directly linked to each interviewee¿ history, was important. Regarding the representation amplitude, there were arguments in defense of a conception of human dignity and freedom to all inhabitants of the globe. The lusophone event highlighted the concern of the cultural peculiarities of those involved in the meeting. The blind interviewees argued for citizenship as construction of instruments for freedom and autonomy, but recognized that this is not a clear desire between the blind people in general, and even less in society as a whole. With respect to the representation premises, the fundaments for the recognition of the blind subject were based on the primacy of reason at the expense of personal experimentation. Experimentation that serves as the foundation of a new form of recognition of the blind subject in public spaces of representation, one more interested in singularities, impenetrable by reason, unmovable to another, and which are irreducible to each subject. The final considerations suggest that if the State has a reason to be, this is not another than to offer instruments to manifest as many as the existential possibilities of the subject. This is the concept of State for development.

O Papel dos profissionais de gestão de pessoas no processo de inclusão de pessoas com deficiência no mercado de trabalho na cidade de São Luis - MA

A inclusão de pessoas com deficiência é um desafio, não só, para as organizações, quanto também, para as pessoas com deficiência que desejam um trabalho onde possam ter seus direitos respeitados e resguardados. Nesse processo o profissional de Gestão de Pessoas tem um papel que é o de tornar o ambiente acessível a todos, mapear os cargos e postos de trabalho, sensibilizar as pessoas da empresa, capacitar os gestores para a minimização do impacto da integração ao ambientes de trabalho e domínio das ferramentas de contratação dos profissionais com deficiência, validação do programa de inclusão, e de capacitação de profissionais com deficiência. Este trabalho objetiva pesquisar se os profissionais de Gestão de Pessoas estão aptos para o desafio de implantar e desenvolver as políticas internas de inclusão das pessoas com deficiência, nas empresas em que atuam. Para tanto, foi feito uma pesquisa juntos aos profissionais responsáveis pelos programas de inclusão, em empresas com mais de 1.000 funcionários no município de São Luís – MA, para avaliar as práticas adotadas pelas organizações.

Deficientes visuais nas organizações: a exclusão no processo de inclusão

O presente estudo objetivou identificar como ocorre o processo de inclusão e exclusão do deficiente visual nas organizações, considerando tal deficiência como a mais representativa das deficiências no país. Apesar desse dado, os profissionais cegos são os que possuem menor índice de contratação pelas empresas, que optam por pessoas que possuem as chamadas “deficiências leves” para compor seu quadro de funcionários. Os deficientes visuais sofrem pelo estereótipo de incapacidade que carregam ao longo da história, mesmo com a presença da Lei de Cotas. Para a construção do estudo foi realizada uma pesquisa de campo, que contou com entrevistas semiestruturadas e observação participante. A conclusão a que se chegou sobre o processo de inclusão do deficiente visual, é que este ocorre praticamente no discurso dos representantes de RH das empresas, sendo visível a preferência de contratação de pessoas com deficiências consideradas “leves”, apesar do número de profissionais cegos disponíveis. O estereótipo de incapacidade laborativa aparece ligado a esse processo de exclusão do cego, que demonstra ocorrer por desconhecimento acerca da deficiência visual. Novas construções foram encontradas, como o estereótipo oriundo do próprio cego e também do direcionamento que instituições importantes apresentam para o desenvolvimento de deficientes visuais, que podem afetar de forma significativa a forma como se relacionam com os videntes.

Differences in the perception of interest representation: a comparision of Brasília and Brussels lobbying activity

The research topic of this paper is focused on the analysis of how trade associations perceive lobbying in Brussels and in Brasília. The analysis will be centered on business associations located in Brasília and Brussels as the two core centers of decision-making and as an attraction for the lobbying practice. The underlying principles behind the comparison between Brussels and Brasilia are two. Firstof all because the European Union and Brazil have maintained diplomatic relations since 1960. Through these relations they have built up close historical, cultural, economic and political ties. Their bilateral political relations culminated in 2007 with the establishment of a Strategic Partnership (EEAS website,n.d.). Over the years, Brazil has become a key interlocutor for the EU and it is the most important market for the EU in Latin America (European Commission, 2007). Taking into account the relations between EU and Brazil, this research could contribute to the reciprocal knowledge about the perception of lobby in the respective systems and the importance of the non-market strategy when conducting business. Second both EU and Brazilian systems have a multi-level governance structure: 28 Member States in the EU and 26 Member States in Brazil; in both systems there are three main institutions targeted by lobbying practice. The objective is to compare how differences in the institutional environments affect the perception and practice of lobbying, where institutions are defined as ‘‘regulative, normative, and cognitive structures and activities that provide stability and meaning to social behavior’’ (Peng et al., 2009). Brussels, the self-proclaimed "Capital of Europe”, is the headquarters of the European Union and has one of the highest concentrations of political power in the world. Four of the seven Institutions of the European Union are based in Brussels: the European Parliament, the European Council, the Council and the European Commission (EU website, n.d.). As the power of the EU institutions has grown, Brussels has become a magnet for lobbyists, with the latest estimates ranging from between 15,000 and 30,000 professionals representing companies, industry sectors, farmers, civil society groups, unions etc. (Burson Marsteller, 2013). Brasília is the capital of Brazil and the seat of government of the Federal District and the three branches of the federal government of Brazilian legislative, executive and judiciary. The 4 city also hosts 124 foreign embassies. The presence of the formal representations of companies and trade associations in Brasília is very limited, but the governmental interests remain there and the professionals dealing with government affairs commute there. In the European Union, Brussels has established a Transparency Register that allows the interactions between the European institutions and citizen’s associations, NGOs, businesses, trade and professional organizations, trade unions and think tanks. The register provides citizens with a direct and single access to information about who is engaged in This process is important for the quality of democracy, and for its capacity to deliver adequate policies, matching activities aimed at influencing the EU decision-making process, which interests are being pursued and what level of resources are invested in these activities (Celgene, n.d). It offers a single code of conduct, binding all organizations and self-employed individuals who accept to “play by the rules” in full respect of ethical principles (EC website, n.d). A complaints and sanctions mechanism ensures the enforcement of the rules and addresses suspected breaches of the code. In Brazil, there is no specific legislation regulating lobbying. The National Congress is currently discussing dozens of bills that address regulation of lobbying and the action of interest groups (De Aragão, 2012), but none of them has been enacted for the moment. This work will focus on class lobbying (Oliveira, 2004), which refers to the performance of the federation of national labour or industrial unions, like CNI (National Industry Confederation) in Brazil and the European Banking Federation (EBF) in Brussels. Their performance aims to influence the Executive and Legislative branches in order to defend the interests of their affiliates. When representing unions and federations, class entities cover a wide range of different and, more often than not, conflicting interests. That is why they are limited to defending the consensual and majority interest of their affiliates (Oliveira, 2004). The basic assumption of this work is that institutions matter (Peng et al, 2009) and that the trade associations and their affiliates, when doing business, have to take into account the institutional and regulatory framework where they do business.

Tecnologia assistiva no Brasil : uma análise das ações da FINEP, período 2005 a 2008

A partir da importância que o tema pessoas portadoras de deficiência vem ganhando na agenda das políticas públicas brasileira nos últimos anos, a presente pesquisa teve como objetivo analisar as ações realizadas pela Finep no período de 2005 a 2008 cuja temática é a Tecnologia Assistiva (TA), para verificar se as ações geraram a introdução efetiva de produtos, serviços e processos inovadores no mercado consumidor de TA. A metodologia utilizada foi a Grounded Theory e a fonte primária de dados e de informações foi obtida na própria Finep. A pesquisa também apresenta exemplos de como as políticas públicas para TA vem sendo implementadas na União Europeia e Austrália. O estudo mapeou as principais dificuldades enfrentadas pelas instituições e empresas dedicadas aos projetos inovadores de TA para a introdução dos produtos assistivos nas linhas de produção e propiciou uma reflexão sobre as suas causas e sugestão sobre a participação mais efetiva e direta dos envolvidos e a continuidade das ações para alcance dos resultados almejados nas ações de TA apoiadas pela Finep. Há, no entanto, um hiato entre a pesquisa, o lote piloto ou prova de conceito e a efetiva produção dos bens e serviços assistivos e vários são os motivos identificados na pesquisa que concorrem para esse distanciamento como, por exemplo, o perfil das empresas e sua propensão ao risco, uma vez que o ciclo de execução do projeto de TA demanda várias fases e, portanto, tempo até se obter o protótipo e poder iniciar a comercialização.

Gestão do trabalho das pessoas com deficiência no campo da saúde pública

Em virtude da reserva de vagas prevista em legislação, a presença de pessoas com deficiência - PcDs é cada vez mais frequente nas organizações públicas. Percebe-se que nem sempre essas organizações estão preparadas, quer seja arquitetonicamente quer seja por uma cultura de inclusão, para receber e gerir essa força de trabalho. Diante desse contexto, o presente estudo procurou discutir as práticas de gestão das pessoas com deficiência na área pública, a partir do enfoque da inclusão, utilizando o caso do Instituto Nacional de Câncer José Alencar Gomes da Silva - INCA. Para a construção do estudo foi realizada uma pesquisa qualitativa com análise documental e com entrevistas semiestruturadas. No intuito de abarcar a visão dos diferentes grupos de pessoas que estão diretamente envolvidos com a temática no INCA foram entrevistados três tipos de profissionais, a saber: servidores com deficiência, chefias diretamente ligadas a essas PcDs e chefia da área de gestão de pessoas. Constata-se uma preocupação do instituto em cumprir a determinação legal de ocupação das cotas reservadas no quadro de pessoal para as PcDs, porém ainda não foram desenvolvidos ou adaptados instrumentos institucionais de gestão que permitam a inclusão efetiva desses profissionais. Verificou-se também que a adaptação do INCA às dimensões de acessibilidade - arquitetônica, comunicacional, metodológica, instrumental, programática e atitudinal – ainda é incipiente. Formalmente não há nenhum elemento que impeça a participação das PcDs nos subsistemas de gestão de pessoas do INCA, contudo nem sempre são criadas e institucionalizadas as ferramentas necessárias à autonomia e à plena participação desses profissionais.

Integrating eye tracking in virtual reality for stroke rehabilitation

This thesis reports on research done for the integration of eye tracking technology into virtual reality environments, with the goal of using it in rehabilitation of patients who suffered from stroke. For the last few years, eye tracking has been a focus on medical research, used as an assistive tool  to help people with disabilities interact with new technologies  and as an assessment tool  to track the eye gaze during computer interactions. However, tracking more complex gaze behaviors and relating them to motor deficits in people with disabilities is an area that has not been fully explored, therefore it became the focal point of this research. During the research, two exploratory studies were performed in which eye tracking technology was integrated in the context of a newly created virtual reality task to assess the impact of stroke. Using an eye tracking device and a custom virtual task, the system developed is able to monitor the eye gaze pattern changes over time in patients with stroke, as well as allowing their eye gaze to function as an input for the task. Based on neuroscientific hypotheses of upper limb motor control, the studies aimed at verifying the differences in gaze patterns during the observation and execution of the virtual goal-oriented task in stroke patients (N=10), and also to assess normal gaze behavior in healthy participants (N=20). Results were found consistent and supported the hypotheses formulated, showing that eye gaze could be used as a valid assessment tool on these patients. However, the findings of this first exploratory approach are limited in order to fully understand the effect of stroke on eye gaze behavior. Therefore, a novel model-driven paradigm is proposed to further understand the relation between the neuronal mechanisms underlying goal-oriented actions and eye gaze behavior.