Tactile Mapping and Localization from High-Resolution Tactile Imprints

This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape of objects from tactile imprints, and an accurate method for object localization of previously reconstructed objects. The algorithms can be applied to a large variety of 3D objects and provide accurate tactile feedback for in-hand manipulation. Results show that by exploiting the dense tactile information we can reconstruct the shape of objects with high accuracy and do on-line object identification and localization, opening the door to reactive manipulation guided by tactile sensing. We provide videos and supplemental information in the project's website http://web.mit.edu/mcube/research/tactile_localization.html.Comment: ICRA 2019, 7 pages, 7 figures. Website: http://web.mit.edu/mcube/research/tactile_localization.html Video: https://youtu.be/uMkspjmDbq

A reversal coarse-grained analysis with application to an altered functional circuit in depression

Introduction: When studying brain function using functional magnetic resonance imaging (fMRI) data containing tens of thousands of voxels, a coarse-grained approach – dividing the whole brain into regions of interest – is applied frequently to investigate the organization of the functional network on a relatively coarse scale. However, a coarse-grained scheme may average out the fine details over small spatial scales, thus rendering it difficult to identify the exact locations of functional abnormalities. Methods: A novel and general approach to reverse the coarse-grained approach by locating the exact sources of the functional abnormalities is proposed. Results: Thirty-nine patients with major depressive disorder (MDD) and 37 matched healthy controls are studied. A circuit comprising the left superior frontal gyrus (SFGdor), right insula (INS), and right putamen (PUT) exhibit the greatest changes between the patients with MDD and controls. A reversal coarse-grained analysis is applied to this circuit to determine the exact location of functional abnormalities. Conclusions: The voxel-wise time series extracted from the reversal coarse-grained analysis (source) had several advantages over the original coarse-grained approach: (1) presence of a larger and detectable amplitude of fluctuations, which indicates that neuronal activities in the source are more synchronized; (2) identification of more significant differences between patients and controls in terms of the functional connectivity associated with the sources; and (3) marked improvement in performing discrimination tasks. A software package for pattern classification between controls and patients is available in Supporting Information

Teegi: Tangible EEG Interface

We introduce Teegi, a Tangible ElectroEncephaloGraphy (EEG) Interface that enables novice users to get to know more about something as complex as brain signals, in an easy, en- gaging and informative way. To this end, we have designed a new system based on a unique combination of spatial aug- mented reality, tangible interaction and real-time neurotech- nologies. With Teegi, a user can visualize and analyze his or her own brain activity in real-time, on a tangible character that can be easily manipulated, and with which it is possible to interact. An exploration study has shown that interacting with Teegi seems to be easy, motivating, reliable and infor- mative. Overall, this suggests that Teegi is a promising and relevant training and mediation tool for the general public.Comment: to appear in UIST-ACM User Interface Software and Technology Symposium, Oct 2014, Honolulu, United State