Integrating 2D Mouse Emulation with 3D Manipulation for Visualizations on a Multi-Touch Table

We present the Rizzo, a multi-touch virtual mouse that has been designed to provide the fine grained interaction for information visualization on a multi-touch table. Our solution enables touch interaction for existing mouse-based visualizations. Previously, this transition to a multi-touch environment was difficult because the mouse emulation of touch surfaces is often insufficient to provide full information visualization functionality. We present a unified design, combining many Rizzos that have been designed not only to provide mouse capabilities but also to act as zoomable lenses that make precise information access feasible. The Rizzos and the information visualizations all exist within a touch-enabled 3D window management system. Our approach permits touch interaction with both the 3D windowing environment as well as with the contents of the individual windows contained therein. We describe an implementation of our technique that augments the VisLink 3D visualization environment to demonstrate how to enable multi-touch capabilities on all visualizations written with the popular prefuse visualization toolkit.

Dynamic Composite Data Physicalization Using Wheeled Micro-Robots

This paper introduces dynamic composite physicalizations, a new class of physical visualizations that use collections of self-propelled objects to represent data. Dynamic composite physicalizations can be used both to give physical form to well-known interactive visualization techniques, and to explore new visualizations and interaction paradigms. We first propose a design space characterizing composite physicalizations based on previous work in the fields of Information Visualization and Human Computer Interaction. We illustrate dynamic composite physicalizations in two scenarios demonstrating potential benefits for collaboration and decision making, as well as new opportunities for physical interaction. We then describe our implementation using wheeled micro-robots capable of locating themselves and sensing user input, before discussing limitations and opportunities for future work

Markerless visual servoing on unknown objects for humanoid robot platforms

To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects, which is divided in four main parts: I) a least-squares minimization problem is formulated to find the volume of the object graspable by the robot's hand using its stereo vision; II) a recursive Bayesian filtering technique, based on Sequential Monte Carlo (SMC) filtering, estimates the 6D pose (position and orientation) of the robot's end-effector without the use of markers; III) a nonlinear constrained optimization problem is formulated to compute the desired graspable pose about the object; IV) an image-based visual servo control commands the robot's end-effector toward the desired pose. We demonstrate effectiveness and robustness of our approach with extensive experiments on the iCub humanoid robot platform, achieving real-time computation, smooth trajectories and sub-pixel precisions

In-home and remote use of robotic body surrogates by people with profound motor deficits

By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due to the lack of suitable interfaces by which to control robotic body surrogates and a dearth of studies involving substantial numbers of people with profound motor deficits. We developed a novel, web-based augmented reality interface that enables people with profound motor deficits to remotely control a PR2 mobile manipulator from Willow Garage, which is a human-scale, wheeled robot with two arms. We then conducted two studies to investigate the use of robotic body surrogates. In the first study, 15 novice users with profound motor deficits from across the United States controlled a PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a simulated self-care task. Participants achieved clinically meaningful improvements on the ARAT and 12 of 15 participants (80%) successfully completed the simulated self-care task. Participants agreed that the robotic system was easy to use, was useful, and would provide a meaningful improvement in their lives. In the second study, one expert user with profound motor deficits had free use of a PR2 in his home for seven days. He performed a variety of self-care and household tasks, and also used the robot in novel ways. Taking both studies together, our results suggest that people with profound motor deficits can improve their quality of life using robotic body surrogates, and that they can gain benefit with only low-level robot autonomy and without invasive interfaces. However, methods to reduce the rate of errors and increase operational speed merit further investigation.Comment: 43 Pages, 13 Figure

Freeform User Interfaces for Graphical Computing

報告番号: 甲15222 ; 学位授与年月日: 2000-03-29 ; 学位の種別: 課程博士 ; 学位の種類: 博士(工学) ; 学位記番号: 博工第4717号 ; 研究科・専攻: 工学系研究科情報工学専

Folding Assembly by Means of Dual-Arm Robotic Manipulation

In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.Comment: 7 pages, accepted for ICRA 201

Pointing as an Instrumental Gesture : Gaze Representation Through Indication

The research of the first author was supported by a Fulbright Visiting Scholar Fellowship and developed in 2012 during a period of research visit at the University of Memphis.Peer reviewedPublisher PD

Symmetric and asymmetric action integration during cooperative object manipulation in virtual environments

Cooperation between multiple users in a virtual environment (VE) can take place at one of three levels. These are defined as where users can perceive each other (Level 1), individually change the scene (Level 2), or simultaneously act on and manipulate the same object (Level 3). Despite representing the highest level of cooperation, multi-user object manipulation has rarely been studied. This paper describes a behavioral experiment in which the piano movers' problem (maneuvering a large object through a restricted space) was used to investigate object manipulation by pairs of participants in a VE. Participants' interactions with the object were integrated together either symmetrically or asymmetrically. The former only allowed the common component of participants' actions to take place, but the latter used the mean. Symmetric action integration was superior for sections of the task when both participants had to perform similar actions, but if participants had to move in different ways (e.g., one maneuvering themselves through a narrow opening while the other traveled down a wide corridor) then asymmetric integration was superior. With both forms of integration, the extent to which participants coordinated their actions was poor and this led to a substantial cooperation overhead (the reduction in performance caused by having to cooperate with another person)