User-centered design of a dynamic-autonomy remote interaction concept for manipulation-capable robots to assist elderly people in the home

In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks. Our approach is based on the insight that robots are not yet able to handle all tasks autonomously with sufficient reliability in the complex and heterogeneous environments of private homes. We therefore employ remote human operators to assist on tasks a robot cannot handle completely autonomously. Our development methodology was user-centric and iterative, with six user studies carried out at various stages involving a total of 241 participants. The concept is under implementation on the Care-O-bot 3 robotic platform. The main contributions of this article are (1) the results of a survey in form of a ranking of the demands of elderly people and informal caregivers for a range of 25 robot services, (2) the results of an ethnography investigating the suitability of emergency teleassistance and telemedical centers for incorporating robotic teleassistance, and (3) a user-validated human-robot interaction concept with three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments

Ilaptic Feedback Device for Needle Insertion

Tele-surgery is one of the emerging fields which combine engineering and medical sciences. Application of tole-surgery can be found in remote communities, war-zones and disasterstricken areas. One of the most complex and tedious issue in tele-surgery is needle insertion. The surgeon relies on haptic feedback during needle insertion. The force exerted on needle during insertion is measured and reproduced at surgeon's end is known as haptic feedback. The realistic force reproduction requires haptic feedback device which should be dynamically identical to needle. The haptic feedback device enables the surgeon to sense the needle insertion remotely. The basic objective of this thesis is to design a device used for needle insertions in soft tissue. The force information from needle insertions is measured by a sensor. The force feedback produced by the device can be used in robot-assisted needle insertion. A device is designed for reality-based data that results in more accurate representation of a needle insertion haptic feedback scenario. The device is modeled dynamically and it is clear from the model that the reactive force is reproduced by the friction forces which is controlled by the motors. The system is sensitive to mass of rollers, mass of the stick and friction between the stick and rollers. The needle insertion force is modeled in three parts; force due to capsule stiffness, friction, and cutting. The force due to capsule stiffness is modeled terms of three components namely diameter of needle, elasticity of tissue and deformation of tissue. The data from model is compared with real time force data. The haptic feedback device input and output forces are compared and the highest correlation factor is 82%. The sensitivity analysis of the device is performed. The capsule stiffness force for 0.9 millimeter diameter needle is 0.98 Newton, the stiffness force for 0.8 millimeter is 0.91 Newton and stiffness force for 0.6 millimeter diameter is 0.41 Newton. The capsule stiffness force for 0.6 millimeter needle is not following the capsule stiffness model. The insertion force data was collected on chicken skin and meat. The device designed in this work is having one degree of freedom; it only produces force feedback for vertical needle insertion. This design is not able to produce the force feedback for angular needle insertion. Graphical User Interface is designed for the visual haptic feedback. The data acquisition is done with the help of a PC sound card. Future work should include the design of a multidegree of freedom haptic feedback device and to advance the GUI for audio feedback that may be extended to accommodate the design of a simulator

Emerging technologies for learning (volume 1)

Collection of 5 articles on emerging technologies and trend

Universal design of an automatic page-turner

This thesis deals with the effectiveness of automatic page-turners as one form of assistive technology. It examines several of the existing commercially available products with a view to developing a universal system that would have the potential to satisfy both the special needs and musician sectors. It explores the current trends regarding the collection of statistical data on people with a physical disability, which is intended to identify the= present and future needs for such assistive technology devices. The project utilizes a usercentric approach to document the requirements of the end users of such a device, before conceptualising a model which would have the potential to satisfy the expanded target market. It explains in detail the development process of the working model, which employs two anthropomorphic finger-like mechanisms, both of which incorporate force feedback. These finger-mimetic components are used to separate and turn the pages of the reading material. A functional prototype was built and a report of the preliminary testing carried out, together with a fully documented illustration of the final working engineering model is included. The test results reveal that the system has shown great potential for the successful development of a more universal Automatic page turner that could satisfy both identified markets

Intelligent Hap Solutions Inc. Business Plan: Haptic Technology for Educational Applications

Haptic technology has been utilized since 1952 in various industries. This technology is based on providing feedback, mainly force feedback, to users performing various tasks. For instance, in the video gaming industry, where haptic technology has been utilized widely, a player can feel the reaction of his actions when playing the game. They can feel how hard it is to kick a soccer ball or turn a racing car. This business plan, developed for Intelligent Hap Solutions Inc., a start-up company, investigates the application of haptic technology in the education industry. A product, HapChem is proposed, which will enable chemistry students, both in high school and university, to build compounds and form reactions using a robotic arm with haptic technology. Using HapChem, students can feel the weight, and other properties of compounds as well as the reaction characteristics. The business will require initial private capital investment from both the founders and from angel investors. The venture is projected to break-even with 4 years and produce a stage appropriate risk-adjusted return on investment for its investors