Musical Haptics

Haptic Musical Instruments; Haptic Psychophysics; Interface Design and Evaluation; User Experience; Musical Performanc

Musical Haptics

Haptic Musical Instruments; Haptic Psychophysics; Interface Design and Evaluation; User Experience; Musical Performanc

Combining Sensors and Multibody Models for Applications in Vehicles, Machines, Robots and Humans

The combination of physical sensors and computational models to provide additional information about system states, inputs and/or parameters, in what is known as virtual sensing, is becoming increasingly popular in many sectors, such as the automotive, aeronautics, aerospatial, railway, machinery, robotics and human biomechanics sectors. While, in many cases, control-oriented models, which are generally simple, are the best choice, multibody models, which can be much more detailed, may be better suited to some applications, such as during the design stage of a new product

Analysing multi-person timing in music and movement : event based methods

Accurate timing of movement in the hundreds of milliseconds range is a hallmark of human activities such as music and dance. Its study requires accurate measurement of the times of events (often called responses) based on the movement or acoustic record. This chapter provides a comprehensive over - view of methods developed to capture, process, analyse, and model individual and group timing [...] This chapter is structured in five main sections, as follows. We start with a review of data capture methods, working, in turn, through a low cost system to research simple tapping, complex movements, use of video, inertial measurement units, and dedicated sensorimotor synchronisation software. This is followed by a section on music performance, which includes topics on the selection of music materials, sound recording, and system latency. The identification of events in the data stream can be challenging and this topic is treated in the next section, first for movement then for music. Finally, we cover methods of analysis, including alignment of the channels, computation of between channel asynchrony errors and modelling of the data set

Multimodal, Embodied and Location-Aware Interaction

This work demonstrates the development of mobile, location-aware, eyes-free applications which utilise multiple sensors to provide a continuous, rich and embodied interaction. We bring together ideas from the fields of gesture recognition, continuous multimodal interaction, probability theory and audio interfaces to design and develop location-aware applications and embodied interaction in both a small-scale, egocentric body-based case and a large-scale, exocentric `world-based' case. BodySpace is a gesture-based application, which utilises multiple sensors and pattern recognition enabling the human body to be used as the interface for an application. As an example, we describe the development of a gesture controlled music player, which functions by placing the device at different parts of the body. We describe a new approach to the segmentation and recognition of gestures for this kind of application and show how simulated physical model-based interaction techniques and the use of real world constraints can shape the gestural interaction. GpsTunes is a mobile, multimodal navigation system equipped with inertial control that enables users to actively explore and navigate through an area in an augmented physical space, incorporating and displaying uncertainty resulting from inaccurate sensing and unknown user intention. The system propagates uncertainty appropriately via Monte Carlo sampling and output is displayed both visually and in audio, with audio rendered via granular synthesis. We demonstrate the use of uncertain prediction in the real world and show that appropriate display of the full distribution of potential future user positions with respect to sites-of-interest can improve the quality of interaction over a simplistic interpretation of the sensed data. We show that this system enables eyes-free navigation around set trajectories or paths unfamiliar to the user for varying trajectory width and context. We demon- strate the possibility to create a simulated model of user behaviour, which may be used to gain an insight into the user behaviour observed in our field trials. The extension of this application to provide a general mechanism for highly interactive context aware applications via density exploration is also presented. AirMessages is an example application enabling users to take an embodied approach to scanning a local area to find messages left in their virtual environment

Multimodal, Embodied and Location-Aware Interaction

This work demonstrates the development of mobile, location-aware, eyes-free applications which utilise multiple sensors to provide a continuous, rich and embodied interaction. We bring together ideas from the fields of gesture recognition, continuous multimodal interaction, probability theory and audio interfaces to design and develop location-aware applications and embodied interaction in both a small-scale, egocentric body-based case and a large-scale, exocentric `world-based' case. BodySpace is a gesture-based application, which utilises multiple sensors and pattern recognition enabling the human body to be used as the interface for an application. As an example, we describe the development of a gesture controlled music player, which functions by placing the device at different parts of the body. We describe a new approach to the segmentation and recognition of gestures for this kind of application and show how simulated physical model-based interaction techniques and the use of real world constraints can shape the gestural interaction. GpsTunes is a mobile, multimodal navigation system equipped with inertial control that enables users to actively explore and navigate through an area in an augmented physical space, incorporating and displaying uncertainty resulting from inaccurate sensing and unknown user intention. The system propagates uncertainty appropriately via Monte Carlo sampling and output is displayed both visually and in audio, with audio rendered via granular synthesis. We demonstrate the use of uncertain prediction in the real world and show that appropriate display of the full distribution of potential future user positions with respect to sites-of-interest can improve the quality of interaction over a simplistic interpretation of the sensed data. We show that this system enables eyes-free navigation around set trajectories or paths unfamiliar to the user for varying trajectory width and context. We demon- strate the possibility to create a simulated model of user behaviour, which may be used to gain an insight into the user behaviour observed in our field trials. The extension of this application to provide a general mechanism for highly interactive context aware applications via density exploration is also presented. AirMessages is an example application enabling users to take an embodied approach to scanning a local area to find messages left in their virtual environment

Musical Haptics

This Open Access book offers an original interdisciplinary overview of the role of haptic feedback in musical interaction. Divided into two parts, part I examines the tactile aspects of music performance and perception, discussing how they affect user experience and performance in terms of usability, functionality and perceived quality of musical instruments. Part II presents engineering, computational, and design approaches and guidelines that have been applied to render and exploit haptic feedback in digital musical interfaces. Musical Haptics introduces an emerging field that brings together engineering, human-computer interaction, applied psychology, musical aesthetics, and music performance. The latter, defined as the complex system of sensory-motor interactions between musicians and their instruments, presents a well-defined framework in which to study basic psychophysical, perceptual, and biomechanical aspects of touch, all of which will inform the design of haptic musical interfaces. Tactile and proprioceptive cues enable embodied interaction and inform sophisticated control strategies that allow skilled musicians to achieve high performance and expressivity. The use of haptic feedback in digital musical interfaces is expected to enhance user experience and performance, improve accessibility for disabled persons, and provide an effective means for musical tuition and guidance

A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation

The application of laser technologies in surgical interventions has been accepted in the clinical domain due to their atraumatic properties. In addition to manual application of fibre-guided lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours has been prevailed in ENT surgery. However, TLM requires many years of surgical training for tumour resection in order to preserve the function of adjacent organs and thus preserve the patient’s quality of life. The positioning of the microscopic laser applicator outside the patient can also impede a direct line-of-sight to the target area due to anatomical variability and limit the working space. Further clinical challenges include positioning the laser focus on the tissue surface, imaging, planning and performing laser ablation, and motion of the target area during surgery. This dissertation aims to address the limitations of TLM through robotic approaches and intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no highly integrated platform for endoscopic delivery of focused laser radiation is available to date. Likewise, there are no known devices that incorporate scene information from endoscopic imaging into ablation planning and execution. For focusing of the laser beam close to the target tissue, this work first presents miniaturised focusing optics that can be integrated into endoscopic systems. Experimental trials characterise the optical properties and the ablation performance. A robotic platform is realised for manipulation of the focusing optics. This is based on a variable-length continuum manipulator. The latter enables movements of the endoscopic end effector in five degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the robot are integrated into a modular framework that is evaluated experimentally. The manipulation of focused laser radiation also requires precise adjustment of the focal position on the tissue. For this purpose, visual, haptic and visual-haptic assistance functions are presented. These support the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic assistance are demonstrated in a user study. The system performance and usability of the overall robotic system are assessed in an additional user study. Analogous to a clinical scenario, the subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergeführten Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die Bildgebung, die Planung und Ausführung der Laserablation sowie intraoperative Bewegungen des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen für die endoskopische Applikation fokussierter Laserstrahlung verfügbar. Ebenfalls sind keine Systeme bekannt, die Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausführung einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fünf Freiheitsgraden. Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen einen positiven Effekt der Automationskonzepte für die kontaktfreie Laserchirurgie

A forearm controller and tactile display

Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2005.Includes bibliographical references (leaves 187-192).This thesis discusses the design and implementation of ARMadillo, a simple virtual environment interface in the form of a small wireless device that is worn on the forearm. Designed to be portable, intuitive, and low cost, the device tracks the orientation of the arm with accelerometers, magnetic field sensors, and gyroscopes, fusing the data with a quaternion based Unscented Kalman Filter. The orientation estimate is mapped to a virtual space that is perceived through a tactile display containing an array of vibrating motors. The controller is driven with an 8051 microcontroller, and includes a BlueTooth module and an extension slot for CompactFlash cards. The device was designed to be simple and modular, and can support a variety of interesting applications, some of which were implemented and will be discussed. These fall into two main classes. The first is a set of artistic applications, represented by a suite of virtual musical instruments that can be played with arm movements and felt through the tactile display, The second class involves utilitarian applications, including a custom Braille-like system called Arm Braille, and tactile guidance. A wearable Braille display intended to be used for reading navigational signs and text messages was tested on two sight-impaired subjects who were able to recognize Braille characters reliably after 25 minutes of training, and read words by the end of an hour.by David Matthew Sachs.S.M