Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

Mitigation Of Motion Sickness Symptoms In 360 Degree Indirect Vision Systems

The present research attempted to use display design as a means to mitigate the occurrence and severity of symptoms of motion sickness and increase performance due to reduced “general effects” in an uncoupled motion environment. Specifically, several visual display manipulations of a 360° indirect vision system were implemented during a target detection task while participants were concurrently immersed in a motion simulator that mimicked off-road terrain which was completely separate from the target detection route. Results of a multiple regression analysis determined that the Dual Banners display incorporating an artificial horizon (i.e., AH Dual Banners) and perceived attentional control significantly contributed to the outcome of total severity of motion sickness, as measured by the Simulator Sickness Questionnaire (SSQ). Altogether, 33.6% (adjusted) of the variability in Total Severity was predicted by the variables used in the model. Objective measures were assessed prior to, during and after uncoupled motion. These tests involved performance while immersed in the environment (i.e., target detection and situation awareness), as well as postural stability and cognitive and visual assessment tests (i.e., Grammatical Reasoning and Manikin) both before and after immersion. Response time to Grammatical Reasoning actually decreased after uncoupled motion. However, this was the only significant difference of all the performance measures. Assessment of subjective workload (as measured by NASA-TLX) determined that participants in Dual Banners display conditions had a significantly lower level of perceived physical demand than those with Completely Separated display designs. Further, perceived iv temporal demand was lower for participants exposed to conditions incorporating an artificial horizon. Subjective sickness (SSQ Total Severity, Nausea, Oculomotor and Disorientation) was evaluated using non-parametric tests and confirmed that the AH Dual Banners display had significantly lower Total Severity scores than the Completely Separated display with no artificial horizon (i.e., NoAH Completely Separated). Oculomotor scores were also significantly different for these two conditions, with lower scores associated with AH Dual Banners. The NoAH Completely Separated condition also had marginally higher oculomotor scores when compared to the Completely Separated display incorporating the artificial horizon (AH Completely Separated). There were no significant differences of sickness symptoms or severity (measured by self-assessment, postural stability, and cognitive and visual tests) between display designs 30- and 60-minutes post-exposure. Further, 30- and 60- minute post measures were not significantly different from baseline scores, suggesting that aftereffects were not present up to 60 minutes post-exposure. It was concluded that incorporating an artificial horizon onto the Dual Banners display will be beneficial in mitigating symptoms of motion sickness in manned ground vehicles using 360° indirect vision systems. Screening for perceived attentional control will also be advantageous in situations where selection is possible. However, caution must be made in generalizing these results to missions under terrain or vehicle speed different than what is used for this study, as well as those that include a longer immersion time

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

The workload implications of haptic displays in multi-display environments such as the cockpit: Dual-task interference of within-sense haptic inputs (tactile/proprioceptive) and between-sense inputs (tactile/proprioceptive/auditory/visual)

Visual workload demand within the cockpit is reaching saturation, whereas the haptic sense (proprioceptive and tactile sensation) is relatively untapped, despite studies suggesting the benefits of haptic displays. MRT suggests that inputs from haptic displays will not interfere with inputs from visual or auditory displays. MRT is based on the premise that multisensory integration occurs only after unisensory processing. However, recent neuroscientific findings suggest that the distinction between unisensory versus multisensory processing is much more blurred than previously thought. This programme of work had the following two research objectives: 1. To examine whether multiple haptic inputs can be processed at the same time without performance decrement - Study One 2. To examine whether haptic inputs can be processed at the same time as visual or auditory inputs without performance decrement - Study Two In Study One participants performed dual-tasks, consisting of same-sense tasks (tactile or proprioceptive) or different-sense tasks (tactile and proprioceptive). These tasks also varied in terms of processing code, in line with MRT. The results found significantly more performance decrement for the same-sense dual-tasks than for the different-sense dual-tasks, in accordance with MRT, suggesting that performance will suffer if two haptic displays of the same type are used concurrently. An adjustment to the MRT model is suggested to incorporate these results. In Study Two, participants performed different-sense dual-tasks, consisting of auditory or visual tasks with tactile or proprioceptive tasks. The tasks also varied in terms of processing code. Contrary to MRT, the results found that when processing code was different, there was significant performance decrement for all of the dual-tasks, but not when processing code was the same. These results reveal an exception to two key MRT rules, the sensory resource rule and the processing code rule. It is suggested that MRT may be oversimplistic and other factors highlighted by recent neuroscientific research should be taken into account in theories of dual-task performance

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not

Role of mechanics in tactile sensing of shape

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.Includes bibliographical references (leaves 199-205).by Kiran Dandekar.Ph.D

The workload implications of haptic displays in multi-display environments such as the cockpit : dual-task interference of within-sense haptic inputs (tactile/proprioceptive) and between-sense inputs (tactile/proprioceptive/auditory/visual)

Visual workload demand within the cockpit is reaching saturation, whereas the haptic sense (proprioceptive and tactile sensation) is relatively untapped, despite studies suggesting the benefits of haptic displays. MRT suggests that inputs from haptic displays will not interfere with inputs from visual or auditory displays. MRT is based on the premise that multisensory integration occurs only after unisensory processing. However, recent neuroscientific findings suggest that the distinction between unisensory versus multisensory processing is much more blurred than previously thought. This programme of work had the following two research objectives: 1. To examine whether multiple haptic inputs can be processed at the same time without performance decrement - Study One 2. To examine whether haptic inputs can be processed at the same time as visual or auditory inputs without performance decrement - Study Two In Study One participants performed dual-tasks, consisting of same-sense tasks (tactile or proprioceptive) or different-sense tasks (tactile and proprioceptive). These tasks also varied in terms of processing code, in line with MRT. The results found significantly more performance decrement for the same-sense dual-tasks than for the different-sense dual-tasks, in accordance with MRT, suggesting that performance will suffer if two haptic displays of the same type are used concurrently. An adjustment to the MRT model is suggested to incorporate these results. In Study Two, participants performed different-sense dual-tasks, consisting of auditory or visual tasks with tactile or proprioceptive tasks. The tasks also varied in terms of processing code. Contrary to MRT, the results found that when processing code was different, there was significant performance decrement for all of the dual-tasks, but not when processing code was the same. These results reveal an exception to two key MRT rules, the sensory resource rule and the processing code rule. It is suggested that MRT may be oversimplistic and other factors highlighted by recent neuroscientific research should be taken into account in theories of dual-task performance.EThOS - Electronic Theses Online ServiceGBUnited Kingdo