204 research outputs found

    Dynamic Speed and Separation Monitoring with On-Robot Ranging Sensor Arrays for Human and Industrial Robot Collaboration

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    This research presents a flexible and dynamic implementation of Speed and Separation Monitoring (SSM) safety measure that optimizes the productivity of a task while ensuring human safety during Human-Robot Collaboration (HRC). Unlike the standard static/fixed demarcated 2D safety zones based on 2D scanning LiDARs, this research presents a dynamic sensor setup that changes the safety zones based on the robot pose and motion. The focus of this research is the implementation of a dynamic SSM safety configuration using Time-of-Flight (ToF) laser-ranging sensor arrays placed around the centers of the links of a robot arm. It investigates the viability of on-robot exteroceptive sensors for implementing SSM as a safety measure. Here the implementation of varying dynamic SSM safety configurations based on approaches of measuring human-robot separation distance and relative speeds using the sensor modalities of ToF sensor arrays, a motion-capture system, and a 2D LiDAR is shown. This study presents a comparative analysis of the dynamic SSM safety configurations in terms of safety, performance, and productivity. A system of systems (cyber-physical system) architecture for conducting and analyzing the HRC experiments was proposed and implemented. The robots, objects, and human operators sharing the workspace are represented virtually as part of the system by using a digital-twin setup. This system was capable of controlling the robot motion, monitoring human physiological response, and tracking the progress of the collaborative task. This research conducted experiments with human subjects performing a task while sharing the robot workspace under the proposed dynamic SSM safety configurations. The experiment results showed a preference for the use of ToF sensors and motion capture rather than the 2D LiDAR currently used in the industry. The human subjects felt safe and comfortable using the proposed dynamic SSM safety configuration with ToF sensor arrays. The results for a standard pick and place task showed up to a 40% increase in productivity in comparison to a 2D LiDAR

    Responsive Aesthetics for Yogic Meditation: An Innovative Design Theory for Holistic Health that supports Autonomy and Effective Training

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    In an effort to contribute a novel theory to the design of emergent wellbeing technology, this paper presents a creative process involving mixed methods taken by the author in producing a design work, referred to as the prototype. The theory formulated by the author concerns the innovation of holistic health practices, specifically a set of prescriptions that posit an effective simulation of yogic meditation experience through computer technology. The resulting theory is then exercised throughout the development of the thesis prototype—resulting in a design work that employs a relatively new interface that immerses the user in a digital simulation where embodied engagement and responsive aesthetics make up the core of the functionality, in what is intended to be a multimodal holistic wellbeing experience. Additionally, the prototype and its ongoing iterative development are documented

    Patterns in Motion - From the Detection of Primitives to Steering Animations

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    In recent decades, the world of technology has developed rapidly. Illustrative of this trend is the growing number of affrdable methods for recording new and bigger data sets. The resulting masses of multivariate and high-dimensional data represent a new challenge for research and industry. This thesis is dedicated to the development of novel methods for processing multivariate time series data, thus meeting this Data Science related challenge. This is done by introducing a range of different methods designed to deal with time series data. The variety of methods re ects the different requirements and the typical stage of data processing ranging from pre-processing to post- processing and data recycling. Many of the techniques introduced work in a general setting. However, various types of motion recordings of human and animal subjects were chosen as representatives of multi-variate time series. The different data modalities include Motion Capture data, accelerations, gyroscopes, electromyography, depth data (Kinect) and animated 3D-meshes. It is the goal of this thesis to provide a deeper understanding of working with multi-variate time series by taking the example of multi-variate motion data. However, in order to maintain an overview of the matter, the thesis follows a basic general pipeline. This pipeline was developed as a guideline for time series processing and is the first contribution of this work. Each part of the thesis represents one important stage of this pipeline which can be summarized under the topics segmentation, analysis and synthesis. Specific examples of different data modalities, processing requirements and methods to meet those are discussed in the chapters of the respective parts. One important contribution of this thesis is a novel method for temporal segmentation of motion data. It is based on the idea of self-similarities within motion data and is capable of unsupervised segmentation of range of motion data into distinct activities and motion primitives. The examples concerned with the analysis of multi-variate time series re ect the role of data analysis in different inter-disciplinary contexts and also the variety of requirements that comes with collaboration with other sciences. These requirements are directly connected to current challenges in data science. Finally, the problem of synthesis of multi-variate time series is discussed using a graph-based example and examples related to rigging or steering of meshes. Synthesis is an important stage in data processing because it creates new data from existing ones in a controlled way. This makes exploiting existing data sets and and access of more condensed data possible, thus providing feasible alternatives to otherwise time-consuming manual processing.Muster in Bewegung - Von der Erkennung von Primitiven zur Steuerung von Animationen In den letzten Jahrzehnten hat sich die Welt der Technologie rapide entwickelt. Beispielhaft für diese Entwicklung ist die wachsende Zahl erschwinglicher Methoden zum Aufzeichnen neuer und immer größerer Datenmengen. Die sich daraus ergebenden Massen multivariater und hochdimensionaler Daten stellen Forschung wie Industrie vor neuartige Probleme. Diese Arbeit ist der Entwicklung neuer Verfahren zur Verarbeitung multivariater Zeitreihen gewidmet und stellt sich damit einer großen Herausforderung, welche unmittelbar mit dem neuen Feld der sogenannten Data Science verbunden ist. In ihr werden ein Reihe von verschiedenen Verfahren zur Verarbeitung multivariater Zeitserien eingeführt. Die verschiedenen Verfahren gehen jeweils auf unterschiedliche Anforderungen und typische Stadien der Datenverarbeitung ein und reichen von Vorverarbeitung bis zur Nachverarbeitung und darüber hinaus zur Wiederverwertung. Viele der vorgestellten Techniken eignen sich zur Verarbeitung allgemeiner multivariater Zeitreihen. Allerdings wurden hier eine Anzahl verschiedenartiger Aufnahmen von menschlichen und tierischen Subjekte ausgewählt, welche als Vertreter für allgemeine multivariate Zeitreihen gelten können. Zu den unterschiedlichen Modalitäten der Aufnahmen gehören Motion Capture Daten, Beschleunigungen, Gyroskopdaten, Elektromyographie, Tiefenbilder ( Kinect ) und animierte 3D -Meshes. Es ist das Ziel dieser Arbeit, am Beispiel der multivariaten Bewegungsdaten ein tieferes Verstndnis für den Umgang mit multivariaten Zeitreihen zu vermitteln. Um jedoch einen Überblick ber die Materie zu wahren, folgt sie jedoch einer grundlegenden und allgemeinen Pipeline. Diese Pipeline wurde als Leitfaden für die Verarbeitung von Zeitreihen entwickelt und ist der erste Beitrag dieser Arbeit. Jeder weitere Teil der Arbeit behandelt eine von drei größeren Stationen in der Pipeline, welche sich unter unter die Themen Segmentierung, Analyse und Synthese eingliedern lassen. Beispiele verschiedener Datenmodalitäten und Anforderungen an ihre Verarbeitung erläutern die jeweiligen Verfahren. Ein wichtiger Beitrag dieser Arbeit ist ein neuartiges Verfahren zur zeitlichen Segmentierung von Bewegungsdaten. Dieses basiert auf der Idee der Selbstähnlichkeit von Bewegungsdaten und ist in der Lage, verschiedenste Bewegungsdaten voll-automatisch in unterschiedliche Aktivitäten und Bewegungs-Primitive zu zerlegen. Die Beispiele fr die Analyse multivariater Zeitreihen spiegeln die Rolle der Datenanalyse in verschiedenen interdisziplinären Zusammenhänge besonders wider und illustrieren auch die Vielfalt der Anforderungen, die sich in interdisziplinären Kontexten auftun. Schließlich wird das Problem der Synthese multivariater Zeitreihen unter Verwendung eines graph-basierten und eines Steering Beispiels diskutiert. Synthese ist insofern ein wichtiger Schritt in der Datenverarbeitung, da sie es erlaubt, auf kontrollierte Art neue Daten aus vorhandenen zu erzeugen. Dies macht die Nutzung bestehender Datensätze und den Zugang zu dichteren Datenmodellen möglich, wodurch Alternativen zur ansonsten zeitaufwendigen manuellen Verarbeitung aufgezeigt werden

    Machine Sensation

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    Emphasising the alien qualities of anthropomorphic technologies, Machine Sensation makes a conscious effort to increase rather than decrease the tension between nonhuman and human experience. In a series of rigorously executed cases studies, including natural user interfaces, artificial intelligence as well as sex robots, Leach shows how object-oriented ontology enables one to insist upon the unhuman nature of technology while acknowledging its immense power and significance in human life. Machine Sensation meticulously engages OOO, Actor Network Theory, the philosophy of technology, cybernetics and posthumanism in innovative and gripping ways

    Gait analysis advancements: rehabilitation value and new perspectives from forensic application

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    The clinical and rehabilitation value of gait analysis is remarkable and indisputable and poised to grow as technological advancements unfold. This article aims to shed light on the advances in how gait is assessed, enabling those who have suffered an injury impairing their motor skills to be diagnosed more accurately and efficiently as well as to compare the hallmarks of rehabilitative and forensic gait analysis. The authors have conducted an analysis of relevant papers (published between 1967 and 2020) from a medicolegal perspective, cited in PubMed, MEDLINE, Cochrane Library, EMBASE, and available recommendations for the legal application of such techniques. Moreover, considering the use of gait analysis as a forensic tool, this study broadens the scope of research by including search engines, legal databases, and court filings (DeJure, Lexis Nexis, Justia) between 2000 and 2022. The instrumental assessment of movement (Gait Analysis) has come to constitute an essential analytical tool for the biomedical sector to objectively and accurately assess human movement and posture. The article is also aimed at elaborating differences and similarities between clinical and forensic gait analysis. When it comes to the forensic applicability of gait analysis and its evidentiary value, however, there is a pressing need for a review of its scientific basis. Therefore, it is necessary to conduct a thorough evaluation of its use in legal practice, as stressed in scientific literature and surveys. It is of utmost importance to highlight the procedural and assessment standards currently applied to forensic gait analysis, to evaluate its strengths and weaknesses, and to achieve standardized guidelines based on broad scientific consensus

    The Use of digital games to enhance the physical exercise activity of the elderly : a case of Finland

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    According to the World Health Organization (WHO), population ageing is a global phenomenon, which brings both challenges and opportunities for society. The current longer expected lifespan can create opportunities for the elderly to contribute in many ways to their families and communities. However, it greatly depends on their quality of life, which is affected by many factors, including physical and functional health, social well-being, and cognitive abilities. The WHO (2012) states that physical health is one of the indicators for the elderly’s quality of life, and it declines with increasing age. Participation in regular physical exercises can help the elderly improve their physical and mental health, and this has been aided by the use of modern technologies to promote the elderly’s physical and functional health. Of these latest technologies, digital games have shown promise to improve and enhance the elderly’s physical activities through fun and engaging gameplay. The literature highlights that some commercial games in the market (e.g. Microsoft Kinect- Sports and Nintendo Wii Sports games) have the potential to improve the elderly’s physical health such as gait, balance, and fall prevention. However, researchers argue that these commercial games are not designed specifically for the elderly and their physical exercise activities. They state that most commercial games are not user-friendly for the elderly whose functional and physical abilities are limited due to their advanced years. The literature points out that more studies need to be undertaken to understand the usability and usefulness of digital games for physical exercise activities so that game designers can create elderly-friendly digital games in the future. In Finland, the government has been focusing on promoting healthy ageing and increasing home care services for the elderly. In recent years, Finnish researchers have used digital games to promote older Finns’ healthy and active ageing. The existing literature, whilst showing the potential of digital games for elderly Finns’ physical health, also acknowledges further research is needed particularly in the context of Finland. Thus, in this study, we aimed at investigating digital games to specifically assess their applications for older Finns’ physical activities, focusing on the quality of users’ experiences, and their reported ease of use and perceived usefulness. We used the mixed methods approach, which applies both qualitative and quantitative research methods. The study design included four stages: requirements gathering, analysis and design, prototyping, and evaluation. Firstly, we conducted pre-studies to elicit users’ requirements. This was followed by the analysis of the resulting data to identify trends and patterns, which fuelled ideas in the brainstorming game design and development phases. The final product was a digital game-based physical exercise called the Skiing Game. We then evaluated the Skiing Game in Finland with 21 elderly Finns (M=7, F=14, Average Age =76). By using questionnaires, observation, and interviews, we investigated user experiences, focusing on the game’s usability, and usefulness for enhancing the physical activity and wellbeing of the elderly. We also conducted a comparative test of the Skiing Game in Japan with 24 elderly Japanese participants (M=12, F=12, Average Age = 72) to further understand non-Finnish elderly users’ experiences. The findings from the usability study of the Skiing Game in Finland demonstrated that elderly Finns had a positive experience in the gameplay, and their motivation was noticeably high. It also confirmed that elderly Finns have a genuine interest in digital game-based exercises and strong intentions to play digital games as a form of physical exercise in the future. Although prior to the study most of them had negative views and misconceptions about digital games, after the gameplay their attitudes were decidedly positive. They acknowledged that whilst playing digital games could be an alternative way of exercising for them their use would primarily be when they don’t have access to their usual non-digital physical exercise. The Japanese usability of the Skiing Game showed that the elderly Japanese people also had positive user experiences in playing digital games, and also intend to use them in the future. Similarly, after playing the game they reported that their attitudes towards digital games become positive, and indicated playing digital games could be an alternative way of exercising. Although the comparison of the two studies suggests that the elderly Finns had relatively more positive experiences whilst playing the Skiing Game, compared to their Japanese counterparts, in general, both groups had a positive experience in the gameplay and showed interest in digital games as an alternative exercise. Based on the usability lessons learned from these two studies, recommendations for practitioners and designers regarding improvements in game design and development are made in this report. Implementing these modifications into future designs and further development of digital games for the elderly will improve their commercial viability and user uptake. The findings from this study can provide valuable insights, particularly for Finnish policymakers and healthcare practitioners who are keen to introduce digital games into the aged-care sector in Finland. The studies have also provided valuable insights into the optimal methods for introducing Finnish digital games to international markets, in particular, digital games tailored specifically for the physical exercise needs and motivations of the elderly. By taking into consideration the limitations of the study, we provide our future studies and further improvements of the game to be conducted

    Embodied Imagination: An Exploration of Participatory Performance and Interactive Technology to Support Stroke Recovery

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    Life after a stroke leads to the challenge of adjusting to new possibilities and fosters an increased risk of social isolation and depression. Re-building personal narratives and creating new community networks are key to conceiving an identity beyond the stroke. In this context, participatory performance provides methods for exploring physical and social identities, imagining new ways of being. Meanwhile, digital technology offers tools to help envision these possibilities. A participatory performance workshop supported by real-time motion capture technology has been redesigned in collaboration with the performance company Split Britches. The Green Screening workshop’s objective is to help stroke survivors imagine new physical and social possibilities by enacting fantasies of things they have always wanted to do. Participants construct storylines supported by a custom-built interactive scenography. Movement data is collected and transformed into real-time visualisations to progressively build fantasy narratives enacted with and for other participants. Three research studies conducted with stroke support groups around England analysed progressive iterations of the Green Screening workshop. The first study focused on the project's feasibility in aiding social support. The second study explored embodied imagination and social collaboration in enacted storylines. Finally, the third study analysed communication as a means of recovery and further potential to foster social collaboration. Findings are based on qualitative analysis of the participants' experience. Results reveal that the narrative process and visualisations encouraged a rich repertoire of improvised movements, and the communal aspect of the process was found especially important in achieving these results. This work argues that this framework can simultaneously bring a rich, prospective and political understanding of people’s lived experience to the design space in HCI and provide community stroke support

    Modelling driving performance using implicit interaction

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    The current project has been realized in collaboration with EIT Digital and Philips Research as part of the high impact initiative in the health & well-being action line. The challenge we are facing in the present work is to design a system for professional truck drivers that monitors driving behavior and predicts vigilance degradation. The research ended with defining parameters that can model drowsiness, fatigue, stress, aggressiveness and driver inattentiveness. The final proposal includes an in-vehicle system that does not impede the drivers' primary or secondary tasks, requires no explicit user input and provides feedback that promotes driving awareness and safer on-road behavior. The system is being designed to support user identification, personal profiles, driving performance monitoring and context-aware interaction for providing personalized and relevant to the circumstances feedback. In order to reach the desired conclusion, we initially conducted a literature review on advanced human-computer interaction and intelligent systems models and we present a model-based interface that supports the desired functionalities. The work also included comparison of cutting edge technologies for affective computing and driver modelling. Due to the nature of the agreement with Philips, we are not authorized to disclose any information that relate to user studies, thus the reader is presented with hypothetical scenarios for system output and user feedback that remain to be verified. These scenarios have been shaped with the help of technology acceptance and data privacy academic papers as well as deep understanding of the driving related context

    Consumers\u27 Preferred Body Scanning Technology: A Comparison

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    Poor fit of apparel products has been troublesome for both the consumers and manufacturers for many years. The acquisition of a correct set of body measurements is crucially important for achieving proper fitting apparel. Three-dimensional body scanning technology has been recognized as a promising alternative to the traditional measuring tape method of obtaining body measurements. Three-dimensional body scanners are quick, efficient, highly reproducible, and largely free of error related to human intervention. The purpose of this study was to investigate consumers’ preferred type of body scanning technology. Three types of body scanners (traditional body scanner, suit-based body scanner, and mobile-based body scanner) were compared using the Technology Acceptance Model (Davis, 1989) as the theoretical framework. Consumers’ perception on usefulness and ease of use were compared among the three scanner types. An online survey was administered using Qualtrics® software for data collection. Data included 382 responses, out of which only 220 were valid. Data was analyzed using SAS® software to test formulated hypotheses. Findings indicated that participants’ perceived usefulness did not vary across the three types of body scanners, but the mobile-based body scanner was perceived to be easier to use than the traditional body scanner. The suit-based body scanner was perceived to be easier to use by men. Gender did not have any significant effect in the preference of the traditional and the suit-based body scanner, but gender was a significant source of variation in preference of the mobile-based body scanner
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