Communicating with Humans and Robots: A Motion Tracking Data Glove for Enhanced Support of Deafblind

In this work, we discuss the design and development of a communication system for enhanced support of the deafblind. The system is based on an advanced motion tracking Data Glove that allows for high fidelity determination of finger postures with consequent identification of the basic Malossi alphabet signs. A natural, easy-to-master alphabet extension that supports single-hand signing without touch surface sensing is described, and different scenarios for its use are discussed. The focus is on using the extended Malossi alphabet as a communication medium in a Data Glove-based interface for remote messaging and interactive control of mobile robots. This may be of particular interest to the deafblind community, where distant communications and robotized support and services are rising. The designed Data Glove-based communication interface requires minimal adjustments to the Malossi alphabet and can be mastered after a short training period. The natural interaction style supported by the Data Glove and the popularity of the Malossi alphabet among the deafblind should greatly facilitate the wider adoption of the developed interface

Design and fabrication of flexible tactile sensing and feedback interface for communication by deafblind people

Humans generally interact and communicate using five basic sensory modalities and mainly through vision, touch and audio. However, this does not work for deafblind people as they have both impaired hearing and vision modalities, and hence rely on touch-sensing. This necessitates the development of alternative means that allows them to independently interact and communicate. To do this requires a solution which has the capability for tactile sensing and feedback. Therefore, tactile interface becomes a critical component of any assistive device usable by deafblind people for interaction and communication. Given that existing solutions mainly use rigid and commercial components, there is a need to tap into the advancements in flexible electronics in order develop more effective and conformable solutions. This research involves the development of flexible tactile communication interface usable in assistive communication devices for deafblind people. First, commercial sensors and actuators were utilised as a proof-of-concept and then four novel tactile interfaces were explored which include two similar touch-sensitive electromagnetic actuators, one capacitive tactile sensing array, and a facile flexible inductance-based pressure sensor. The two fabricated touch-sensitive electromagnetic actuators (Type 1 and 2) are both based on electromagnetic principle and capable of simultaneous tactile sensing and feedback. Each comprises of a tandem combination of two main modules - the touch-sensing and the actuation module, with both modules integrated as a single device in each case. The actuation module employs a flexible planar spiral coil and a Neodymium magnet assembled in a soft Polydimethylsiloxane (PDMS) structure, while the touch-sensing module is a planar capacitive metal- insulator-metal structure of copper. The flexible coil (~17µm thick and with 45 turns) was fabricated on a Polyimide sheet using Lithographie Galvanoformung Abformung (LIGA) process. The results of characterisation of these actuators at frequencies ranging from 10Hz to 200Hz, shows a maximum displacement (~ 190µm) around 40Hz. Evaluation of this by 40 (20 deafblind and 20 sighted and hearing) participants show that they can feel vibration at this range. Another tactile interface fabricated is an 8 x 8 capacitive tactile sensing array. The sensor was developed on a flexible Polyvinyl Chloride (PVC) sheet with column electrodes deposited on one side and row electrodes on the reverse side. It is intended for use as an assistive tactile communication interface for deafblind people who communicate using deafblind manual alphabets as well as the English block letters. An inductance-based pressure sensor was also designed, fabricated and characterised for use as an input interface for finger Braille as well as other tactile communication methods for deafblind people. It was realised with a soft ferromagnetic elastomer and a 17µm-thick coil fabricated on a flexible 50 µm-thick polyimide sheet. The ferromagnetic elastomer acts as the core of the coil, which when pressed, sees the metal particles moving closer to each other, leading to changes in the inductance. The coil, with 75µm conductor and 25µm pitch, was also realised using LIGA micromolding technique. Seven different sensors were fabricated using different ratios (1:1, 1:2, 1:3, 1:5, 2:1, 3:1, and 5:1) of Ecoflex to Iron particles. The performance of each sensor was investigated and generally, sensors with higher Iron particles gave better sensitivity, linear as well as dynamic range. In comparison with all other fabricated sensors, the sensor made with 1:5DD was recommended for application as a tactile interface

Inductance-based Flexible Pressure Sensor for Assistive Gloves

This paper presents an inductance-based flexible pressure sensor to support the tactile communication between deafblind people. The pressure sensor was realized with a soft ferromagnetic elastomer and a 17μm-thick coil fabricated on a 50 μm thick flexible polyimide sheet. The ferromagnetic elastomer acts as the core of the coil, which when pressed, sees the metal particles moving closer to each other and leads to changes in the inductance. The coil, with 75μm wide wires and 25μm pitch, was realized using LIGA (Lithographie Galvanoformung, Abformung) micro molding technique. Four different sensors have been fabricated using different ratios (1:1, 2:1, 3:1 and 5:1) of ecoflex and iron nanoparticles. The results show that the higher the ratio the better the response of the sensor. The presented sensor is intended to be integrated in a smart glove having dual function of tactile sensing and vibrotactile feedback

Horseback riding therapy for a deafblind individual enabled by a haptic interface

We present a haptic interface to help deafblind people to practice horseback riding as a recreational and therapeutic activity. Horseback riding is a form of therapy which can improve self-esteem and sensation of independence. It has been shown to benefit people with various medical conditions-including autism. However, in the case of deafblind riders, an interpreter must stand by at all times to communicate with the rider by touch. We developed a simple interface that enables deafblind people to enjoy horseback riding while the instructor is remotely providing cues, which improves their independence. Experiments demonstrated that an autistic deafblind individual exhibits similar responses to navigational cues as an unimpaired rider. Motivation is an important factor in therapy, and is frequently determinant of its outcome; therefore, the user attitude toward the therapy methods is key. The answers to questionnaires filled by the rider, family, and the instructor show that our technique gives the rider a greater sense of independence and more joy compared to standard riding where the instructor is walking along with the horse

GlovePi: un device wearable a supporto della comunicazione many-to-many tra utenti sordo-ciechi

Questa tesi presenta la progettazione e l'implementazione di un sistema assistivo low cost ed open-source sfruttando un device wearable per supportare la comunicazione sociale aptica tra persone affette da sordocecità, utilizzando una specifica codifica: l'alfabeto Malossi. Inoltre, dopo un'attenta analisi dello stato del'arte nella quale si è evinta una necessità ancora da esplorare, il progetto è stato espanso per favorire la comunicazione sociale aptica many-to-many in ambito distribuito. Appoggiandosi ad uno scenario di riferimento, ovvero la conferenza, è stata progettata un'architettura in tal senso facendo riferimento a TuCSoN, tecnologia già consolidata. Infine, sono stati effettuati test sulle performance e sull'usabilità del guanto

Imagining future technologies: eTextile weaving workshops with blind and visually impaired people

The traditional approach for developing assistive technologies for blind and visually impaired users is to focus on problems and to try and resolve them by compensating for the loss of vision. In this research we took the approach of involving blind and visually impaired people, from a range of ages, in a hands-on making activity using an eTextile physical computing toolkit. Our aim was to create an environment where people could both make and learn form each other, but also where they would share their thoughts and imagine future scenarios for the technologies they were developing. We observed highly creative ways of working at all levels, from unique weaving techniques to choices in fabrics and materials, as well as expressions of personal preferences. We discuss the ‘inhome enjoyment’ scenarios sketched by the participants and point to the role of creative workshops and eTextile toolkits as a tool for imagining future technologies

Dispositivo intercomunicador para personas sordociegas.

Trabajo de InvestigaciónEn el presente trabajo de grado se realizó un dispositivo electrónico que tiene un sistema por el cual una persona sordociega puede comunicarse con una persona normal sin que tenga la necesidad de saber el lenguaje Braille ya que el dispositivo puede interpretar la lectura y escritura en ambos sentidos y cuenta con una interfaz gráfica que le sirve a la persona sin discapacidad.INTRODUCCIÓN 1. ANTECEDENTES Y JUSTIFICACIÓN 2. PLANTEAMIENTO Y FORMULACIÓN DEL PROBLEMA 3. MARCO DE REFERENCIA 4. OBJETIVOS 5. ALCANCES Y LIMITACIONES 6. METODOLOGÍA 7. RECOPILACIÓN DE INFORMACIÓN 8. DISEÑO 9. IMPLEMENTACIÓN 10. PRUEBA DEL DISPOSITIVO 11. ANÁLISIS DE RESULTADOS 12. CONCLUSIONES 13. RECOMENDACIONES Y MEJORAS BIBLIOGRAFÍA ANEXOSPregradoIngeniero Electrónic

The PISHI Concept: A Technique for Increasing Inclusion in the Design of Open-Source Assistive Technologies

This thesis addresses how to make Open-Source (OS) Assistive Technology (AT) more inclusive. The thesis employs a Research Through Design (RtD) methodology on a particular case study: the Switch Activated Writing System (SAWS) that is in transition to an Open-Source project (OSSAWS). Analysis of the literature reveals the potential to leverage persona representations into OS AT. This thesis includes three RtD iterations which focus on successive modifications of persona representations and markdown templating, converging on a final design concept called Persona Inclusion for open Source assistive tecHnology Innovation (PISHI). The PISHI concept centers on the representation of family-level dynamics, crucial in the AT domain and design innovation. The thesis develops persona representations for the users of OSSAWS following the PISHI Concept. This thesis presents a rationale for the generalizability of the PISHI concept, which will provide a crucial means for increasing inclusion in Open-Source (OS) Assistive Technology (AT)

The PISHI Concept: A Technique for Increasing Inclusion in the Design of Open-Source Assistive Technologies

This thesis addresses how to make Open-Source (OS) Assistive Technology (AT) more inclusive. The thesis employs a Research Through Design (RtD) methodology on a particular case study: the Switch Activated Writing System (SAWS) that is in transition to an Open-Source project (OSSAWS). Analysis of the literature reveals the potential to leverage persona representations into OS AT. This thesis includes three RtD iterations which focus on successive modifications of persona representations and markdown templating, converging on a final design concept called Persona Inclusion for open Source assistive tecHnology Innovation (PISHI). The PISHI concept centers on the representation of family-level dynamics, crucial in the AT domain and design innovation. The thesis develops persona representations for the users of OSSAWS following the PISHI Concept. This thesis presents a rationale for the generalizability of the PISHI concept, which will provide a crucial means for increasing inclusion in Open-Source (OS) Assistive Technology (AT)