A method to guide local physical adaptations in a robot based on phase portraits

In this paper, we propose a method that shows how phase portraits rendered by a controller can inform the development of a physical adaptation at a single degree of freedom (DoF) for a given control task. This approach has the advantage of having physical adaptations sharing the responsibility of control to accomplish a task. We use an inverted pendulum which is reminiscent of the trunk of a biped walker to conduct numerical simulations and hardware experiments to show how our method can innovate a physical adaptation at the pivot joint to reduce the control effort. Our method discovered that a torsional spring at the pivot joint would lead to a lower input effort by the regulator type feedback controller. The method can tune the spring to minimize the total cost of control up to about 32.81%. This physical adaptation framework allows multiple degrees of freedom robotic system to suggest local physical adaptations to accomplish a given control objective

A unilateral robotic knee exoskeleton to assess the role of natural gait assistance in hemiparetic patients.

Background: Hemiparetic gait is characterized by strong asymmetries that can severely affect the quality of life of stroke survivors. This type of asymmetry is due to motor deficits in the paretic leg and the resulting compensations in the nonparetic limb. In this study, we aimed to evaluate the effect of actively promoting gait symmetry in hemiparetic patients by assessing the behavior of both paretic and nonparetic lower limbs. This paper introduces the design and validation of the REFLEX prototype, a unilateral active knee–ankle–foot orthosis designed and developed to naturally assist the paretic limbs of hemiparetic patients during gait. Methods: REFLEX uses an adaptive frequency oscillator to estimate the continuous gait phase of the nonparetic limb. Based on this estimation, the device synchronically assists the paretic leg following two different control strategies: (1) replicating the movement of the nonparetic leg or (2) inducing a healthy gait pattern for the paretic leg. Technical validation of the system was implemented on three healthy subjects, while the effect of the generated assistance was assessed in three stroke patients. The effects of this assistance were evaluated in terms of interlimb symmetry with respect to spatiotemporal gait parameters such as step length or time, as well as the similarity between the joint’s motion in both legs. Results: Preliminary results proved the feasibility of the REFLEX prototype to assist gait by reinforcing symmetry. They also pointed out that the assistance of the paretic leg resulted in a decrease in the compensatory strategies developed by the nonparetic limb to achieve a functional gait. Notably, better results were attained when the assistance was provided according to a standard healthy pattern, which initially might suppose a lower symmetry but enabled a healthier evolution of the motion of the nonparetic limb. Conclusions: This work presents the preliminary validation of the REFLEX prototype, a unilateral knee exoskeleton for gait assistance in hemiparetic patients. The experimental results indicate that assisting the paretic leg of a hemiparetic patient based on the movement of their nonparetic leg is a valuable strategy for reducing the compensatory mechanisms developed by the nonparetic limb.post-print6406 K

EEG based volitional interaction with a robot to dynamically replan trajectories

Everyday robots are more involved in our daily basis and they are expected to be part of the domestic environment eventually. Assertive robots deal with this scenario providing help to people with certain disabilities, a task that requires an intuitive communication between human and robot. One of the control methods that have become popular is the Brain Computer Interfaces (BCI), using electroencephalography (EEG) signals to read the user’s intention. Commonly applied to let the user choose among several options, without further interaction once the robot starts acting. This project explain a method to interpret the EEG signal online and use it to manipulate online the movement of a robot arm. The signal that is received comes from Motion Imagery to allow the user to communicate constantly his intention. Using Dynamic Movement Primitives (DMP) and Virtual Force Systems the stored trajectories of the robot can be modified online trying to adapt to the user’s will. With this elements the trajectories are applied in a real robot arm, chequing online if all the requested goals are feasible positions for the robot. This method intend to make more natural the collaboration with a robot in domestic tasks, where slight modifications of an action can lead into a more satisfactory interaction

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PD

Applying the “human-dog interaction” metaphor in human-robot interaction: a co-design practice engaging healthy retired adults in China

This research adopts a Deweyan pragmatist approach and “research through design” methods to explore the use of human-dog interaction as a model for developing human-robot interaction. This research asks two questions: (1) In what way could the human-dog interaction model inform the design of social robots to meet the needs of older adults? (2) What role could aesthetic, functional and behavioural aspects of the human-dog interaction play in older adults’ interaction with social robots? Driven by the pragmatist approach, this thesis uses the dog-human interaction model as a metaphor in this thesis. The research carried out four studies in two parts. The first part of the practice includes two explorative studies to identify aspects of human-dog interaction that could inform the design of social robots for older adults. Study 1 explores aspects of human-dog interaction that could inform the design of human-robot interaction for retired adults. Study 2 explores a group of healthy retired adults’ attitudes and preferences toward social/assistive robots in China. The findings suggest that, first, the pairing and training process provides a framework for building personalised social robots in terms of form, function, interaction, and stakeholders involved. Second, the cooperative interaction between a human and a guide dog provides insights for building social robots that take on leading roles in interactions. The robot-as-dog metaphor offers a new perspective to rethink the design process of social robots based on the role dog trainer, owner, and the dog plays in human-dog interaction. In the second part of the practice, two more studies are conducted to articulate the usefulness of the designer-as-trainer-metaphor, and the personalisation-astraining-metaphor, using participatory co-designing methods. Engaging both retired adult participants and roboticists as co-designers to investigate further how aesthetic aspects, functional features, and interactive behaviours characterising dog-human interaction could inform how older adults can interact with social robots. Study 3 involved co-designing a robot probe with roboticists and later deploying it in a participant’s home using the Wizard of Oz method. The personalisation-as-training metaphor helps facilitate a critical discussion for the interdisciplinary co-design process. It broadens the design space when addressing the technical limitation of the probe’s camera through reflection-in-action. Study 4 engages the retired adults as co-designers to envision what characteristics they would like robots to have, with attention to the robot’s form, the functions that the robot can perform and how the robot interacts with users. The study applies techniques such as sketching and storyboarding to understand how retired adults make sense of these core elements that are key to developing social/assistive robots for positive ageing. This thesis makes two main contributions to knowledge in human-robot interaction and interaction design research. Firstly, it provides an applied example using the robot-as-dog metaphor as a tool to probe human-robot interactions in a domestic context. Secondly, to show dog-human interaction model is applicable to different levels of abstraction for the co-designing process that involves the roboticists and the end-users. The outcome shows a reflective practice that engages metaphors to facilitate communication across disciplines in the co-design process

An Intersectional Lifecourse Lens and Participatory Methods as the Foundations for Co-Designing with and for Minoritised Older Adults

The design of digital technologies for older adults is often premised on deficit models of ageing that position older people as a homogenous group and as passive users of technology, with an overwhelming focus on meeting practical needs in older age. In response, a growing number of scholars in HCI and Science and Technology Studies (STS) are engaging with processes of co-design that situate older adults as experts in their own lives and as central to the design process. These scholars highlight how an essential first phase of co-design is understanding and foregrounding the lifeworlds, experiences and expertise of older adults. This paper responds to these calls, alongside the lack of consideration of minoritised older adults in co-design. It draws on the empirical findings from the first phase of the Connecting Through Culture As We Age project, which places twenty minoritised older adults who identify as disabled, and/or racially and/or socio-economically minoritised, at the centre of a digital innovation process. Through a case study approach, we focus on two of the minoritised older adults involved, to demonstrate the value of bringing together participatory methods with an interdisciplinary lifecourse lens. We highlight the power of this approach for understanding minoritised older adults’ relationships with technology, as shaped by experiences across the lifecourse, for building relationships, and ensuring their agency and voice underpin the co-design process

Vernacular Posthumanism: Visual Culture and Material Imagination

Vernacular Posthumanism: Visual Culture and Material Imagination uses a theory of image vernaculars in order to explore the ways in which contemporary visual culture both reflects on and constructs 21st century cultural attitudes toward the human and the nonhuman. This project argues that visual culture manifests a vernacular posthumanism that expresses a fundamental contradiction: the desire to transcend the human while at the same time reasserting the importance of the flesh and the materiality of lived experience. This contradiction is based in a biodeterminist desire, one that fantasizes about reducing all actants, both human and nonhuman, to functions of code. Within this framework, actants become fundamentally exchangeable, able to be combined, manipulated, and understood as variations of digital code. Visual culture – and its expression of vernacular posthumanism – thus functions as a reflection on contemporary conceptualizations of the human, a rehearsal of the posthuman, and a staging ground for encounters between the human and the nonhuman. Each chapter of this project begins in the field of film studies and then moves out toward a broader analysis of visual culture and nonhumanist theory. This project relies on the theories and methodologies of phenomenology, materialism, posthumanism, object-oriented ontology, actor-network theory, film and media studies, and visual culture studies. Visual objects analyzed include: the films of Stanley Kubrick, David Cronenberg, and Krzysztof Kieślowski; Fast, Cheap & Out of Control (1997); the film 300 (2006); the TV series Planet Earth (2006); DNA portraits, the art of Damien Hirst; Body Worlds; human migration maps; and remote surgical machinery

Accessibility of Health Data Representations for Older Adults: Challenges and Opportunities for Design

Health data of consumer off-the-shelf wearable devices is often conveyed to users through visual data representations and analyses. However, this is not always accessible to people with disabilities or older people due to low vision, cognitive impairments or literacy issues. Due to trade-offs between aesthetics predominance or information overload, real-time user feedback may not be conveyed easily from sensor devices through visual cues like graphs and texts. These difficulties may hinder critical data understanding. Additional auditory and tactile feedback can also provide immediate and accessible cues from these wearable devices, but it is necessary to understand existing data representation limitations initially. To avoid higher cognitive and visual overload, auditory and haptic cues can be designed to complement, replace or reinforce visual cues. In this paper, we outline the challenges in existing data representation and the necessary evidence to enhance the accessibility of health information from personal sensing devices used to monitor health parameters such as blood pressure, sleep, activity, heart rate and more. By creating innovative and inclusive user feedback, users will likely want to engage and interact with new devices and their own data

Design revolutions: IASDR 2019 Conference Proceedings. Volume 4: Learning, Technology, Thinking

In September 2019 Manchester School of Art at Manchester Metropolitan University was honoured to host the bi-annual conference of the International Association of Societies of Design Research (IASDR) under the unifying theme of DESIGN REVOLUTIONS. This was the first time the conference had been held in the UK. Through key research themes across nine conference tracks – Change, Learning, Living, Making, People, Technology, Thinking, Value and Voices – the conference opened up compelling, meaningful and radical dialogue of the role of design in addressing societal and organisational challenges. This Volume 4 includes papers from Learning, Technology and Thinking tracks of the conference