A multi-modal interface for road planning tasks using vision, haptics and sound

The planning of transportation infrastructure requires analyzing many different types of geo-spatial information in the form of maps. Displaying too many of these maps at the same time can lead to visual clutter or information overload, which results in sub-optimal effectiveness. Multimodal interfaces (MMIs) try to address this visual overload and improve the user\u27s interaction with large amounts of data by combining several sensory modalities. Previous research into MMIs seems to indicate that using multiple sensory modalities leads to more efficient human-computer interactions when used properly. The motivation from this previous work has lead to the creation of this thesis, which describes a novel GIS system for road planning using vision, haptics and sound. The implementation of this virtual environment is discussed, including some of the design decisions used when trying to ascertain how we map visual data to our other senses. A user study was performed to see how this type of system could be utilized, and the results of the study are presented

Development of a Steering law experiment platform with haptic device Phantom Omni

Tatay De Pascual, A. (2010). Development of a Steering law experiment platform with haptic device Phantom Omni. http://hdl.handle.net/10251/8631.Archivo delegad

A method to provide accessibility for visual components to vision impaired

Non-textual graphical information (line graphs, bar charts, pie charts, etc.) are increasingly pervasive in digital scientific literature and business reports which enabling readers to easily acquire the nature of the underlying information . These graphical components are commonly used to present data in an easy-to interpret way. Graphs are frequently used in economics, mathematics and other scientific subjects. In general term data visualization techniques are useless for blind people. Being unable to access graphical information easily is a major obstacle to blind people in pursuing a scientific study and careers .This paper suggests a method to extract implicit information of Bar chart, Pie chart, Line chart and math’s graph components of an electronic document and present them to vision impaired users in audio format. The goal is to provide simple to use, efficient, and available presentation schemes for non textual which can help vision impaired users in comprehending form without needing any further devices or equipments. A software application has been developed based on this research. The output of application is a textual summary of the graphic including the core content of the hypothesized intended message of the graphic designer. The textual summary of the graphic is then conveyed to the user by Text to Speech software .The benefit of this approach is automatic providing the user with the message and knowledge that one would gain from viewing t

The IT potential of haptics: Touch access for people with disabilities

In his licentiate thesis, Calle Sjöström sums up his own and Certec's experience from almost five years' work on haptic interfaces for people with disabilities. The haptic technology tested have great potential for future development, but need refinemen

A Haptic Surface Robot Interface for Large-Format Touchscreen Displays

This thesis presents the design for a novel haptic interface for large-format touchscreens. Techniques such as electrovibration, ultrasonic vibration, and external braked devices have been developed by other researchers to deliver haptic feedback to touchscreen users. However, these methods do not address the need for spatial constraints that only restrict user motion in the direction of the constraint. This technology gap contributes to the lack of haptic technology available for touchscreen-based upper-limb rehabilitation, despite the prevalent use of haptics in other forms of robotic rehabilitation. The goal of this thesis is to display kinesthetic haptic constraints to the touchscreen user in the form of boundaries and paths, which assist or challenge the user in interacting with the touchscreen. The presented prototype accomplishes this by steering a single wheel in contact with the display while remaining driven by the user. It employs a novel embedded force sensor, which it uses to measure the interaction force between the user and the touchscreen. The haptic response of the device is controlled using this force data to characterize user intent. The prototype can operate in a simulated free mode as well as simulate rigid and compliant obstacles and path constraints. A data architecture has been created to allow the prototype to be used as a peripheral add-on device which reacts to haptic environments created and modified on the touchscreen. The long-term goal of this work is to create a haptic system that enables a touchscreen-based rehabilitation platform for people with upper limb impairments

Robotically assisted eye surgery : a haptic master console

Vitreo-retinal surgery encompasses the surgical procedures performed on the vitreous humor and the retina. A procedure typically consists of the removal of the vitreous humor, the peeling of a membrane and/or the repair of a retinal detachment. Operations are performed with needle shaped instruments which enter the eye through surgeon made scleral openings. An instrument is moved by hand in four degrees of freedom (three rotations and one translation) through this opening. Two rotations (? and ? ) are for a lateral instrument tip movement. The other two DoFs (z and ?) are the translation and rotation along the instrument axis. Actuation of for example a forceps can be considered as a fifth DoF. Characteristically, the manipulation of delicate, micrometer range thick intraocular tissue is required. Today, eye surgery is performed with a maximum of two instruments simultaneously. The surgeon relies on visual feedback only, since instrument forces are below the human detection limit. A microscope provides the visual feedback. It forces the surgeon to work in a static and non ergonomic body posture. Although the surgeon’s proficiency improves throughout his career, hand tremor may become a problem around his mid-fifties. Robotically assisted surgery with a master-slave system enhances dexterity. The slave with instrument manipulators is placed over the eye. The surgeon controls the instrument manipulators via haptic interfaces at the master. The master and slave are connected by electronic hardware and control software. Implementation of tremor filtering in the control software and downscaling of the hand motion allow prolongation of the surgeon’s career. Furthermore, it becomes possible to do tasks like intraocular cannulation which can not be done by manually performed surgery. This thesis focusses on the master console. Eye surgery procedures are observed in the operating room of different hospitals to gain insight in the requirements for the master. The master console as designed has an adjustable frame, a 3D display and two haptic interfaces with a coarse adjustment arm each. The console is mounted at the head of the operating table and is combined with the slave. It is compact, easy to place and allows the surgeon to have a direct view on and a physical contact with the patient. Furthermore, it fits in today’s manual surgery arrangement. Each haptic interface has the same five degrees of freedom as the instrument inside the eye. Through these interfaces, the surgeon can feel the augmented instrument forces. Downscaling of the hand motion results in a more accurate instrument movement compared to manually performed surgery. Together with the visual feedback, it is like the surgeon grasps the instrument near the tip inside the eye. The similarity between hand motion and motion of the instrument tip as seen on the display results in an intuitive manipulation. Pre-adjustment of the interface is done via the coarse adjustment arm. Mode switching enables to control three or more instruments manipulators with only two interfaces. Two one degree of freedom master-slave systems with force feedback are built to derive the requirements for the haptic interface. Hardware in the loop testing provides valuable insights and shows the possibility of force feedback without the use of force sensors. Two five DoF haptic interfaces are realized for bimanual operation. Each DoF has a position encoder and a force feedback motor. A correct representation of the upscaled instrument forces is only possible if the disturbance forces are low. Actuators are therefore mounted to the fixed world or in the neighborhood of the pivoting point for a low contribution to the inertia. The use of direct drive for ' and and low geared, backdriveable transmissions for the other three DoFs gives a minimum of friction. Disturbance forces are further minimized by a proper cable layout and actuator-amplifier combinations without torque ripple. The similarity in DoFs between vitreo-retinal eye surgery and minimally invasive surgery (MIS) enables the system to be used for MIS as well. Experiments in combination with a slave robot for laparoscopic and thoracoscopic surgery show that an instrument can be manipulated in a comfortable and intuitive way. User experience of surgeons and others is utilized to improve the haptic interface further. A parallel instead of a serial actuation concept for the ' and DoFs reduces the inertia, eliminates the flexible cable connection between frame and motor and allows that the heat of the motor is transferred directly to the frame. A newly designed z-?? module combines the actuation and suspension of the hand held part of the interface and has a three times larger z range than in the first design of the haptic interface

Analysis domain model for shared virtual environments

The field of shared virtual environments, which also encompasses online games and social 3D environments, has a system landscape consisting of multiple solutions that share great functional overlap. However, there is little system interoperability between the different solutions. A shared virtual environment has an associated problem domain that is highly complex raising difficult challenges to the development process, starting with the architectural design of the underlying system. This paper has two main contributions. The first contribution is a broad domain analysis of shared virtual environments, which enables developers to have a better understanding of the whole rather than the part(s). The second contribution is a reference domain model for discussing and describing solutions - the Analysis Domain Model

PROTOTYPING PLATEAU GEHRY_CONNECTIVES : Reading Frank Gehry’s experiments through Deleuze and Guattari

This thesis attempts to describe and interpret the design practice of an American architect, Frank O. Gehry through concepts developed by French philosopher Gilles Deleuze and his collaborator, French psychotherapist, philosopher and activist, Félix Guattari. At the same time, prototyping a website-based interactive project called PLATEAU GEHRY_CONNECTIVES, it explores an alternative form for the Doctoral thesis. In addition to connections with visual arts, such as painting and cinema, the experimental project PLATEAU GEHRY_CONNECTIVES includes references to concepts and phenomena from various areas of knowledge revealing distinctive, unusual qualities of Gehry’s creative approach in the production of design artefacts. The thesis documents and discusses means of representation in architectural design fused into the specific creative culture of Frank O. Gehry. It notices that the discourse in architectural theory and practice, often neglects what occurs on a particular molecular level of the architectural design process. It shows that elements of micro-level of design procedures render Gehry’s idiosyncratic design phenomena intelligible and perceptible in a new way. It claims that it has been possible because Deleuze and Guattari’s concepts become perceptibly operational in the interpretation of such phenomena, at the level of elementary units of Gehry’s design procedures. Moreover, through this close-up perspective, the thesis’ investigations identify certain similarities in the operational modes of the architect and the painter. It demonstrates how Gehry, who has anchored his interest in painting, and specifically in what he defined as ‘immediacy in painting,’ was able to transform the practice of architectural drawing from projective to a cognitive one. It also shows, how the architect re-defines the commonly applied projective geometries from passive, arbitrary role to an active agent, and how the architect links drawing practice with the construction process on a new, almost palpable level. While stressing its the manual character, the thesis demonstrates that Gehry’s explorative culture of challenging means of representation employed in architectural design production facilitates the re-disciplining of architecture culminating in the integration of the CATIA system in the design procedures. This study of Gehry’s design actions and strategies can help the reader to understand the significance of experimental and intuitive design practices. The thesis proposes the Deleuzian interpretation of Gehry’s experiments in the aesthetics of design thinking and acting. It renders perceptions of patterns, according to which, other design practices can operate