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

Biomechanical analysis of backstroke to breaststroke turns in age-group swimmers: An intervention study (The interplay between the kinematics, dynamometric, hydrodynamics and electromyography factors)

Compreender a aquisição de experiência em habilidades de viragens na perspetiva de um jovem nadador em desenvolvimento, geralmente requer o desenvolvimento de uma relação e interação entre as características do movimento efetivo e o processo de ensino-aprendizagem. No entanto, poucas análises biomecânicas de viragens em nadadores de grupos de idade foram conduzidas para facilitar o diagnóstico biomecânico e a intervenção científica em técnicas de viragem nado costas para bruços. Os objetivos desta Tese foram: (1) identificar as características biomecânicas determinantes em cada uma das quatro diferentes técnicas de viragens de nado costas para bruços e (ii) investigar o efeito de 16 treinos de interferência contextuais sistemáticos de 40 minutos cada (quatro semanas), seguido de prática bloqueada, em série e aleatória sobre como facilitar e aprender as técnicas de viragem de nado de costas para nado bruços. Uma abordagem multidisciplinar, incluindo um sistema de captura de movimento, uma plataforma de força tri-axial subaquática personalizada, eletromiografia de superfície (EMG) e uma abordagem dinâmica inversa utilizando variáveis hidrodinâmicas, foi usada para atingir esse objetivo. Começamos (no primeiro estudo) identificando as principais características biomecânicas e determinantes das viragens open, somersault, bucket e crossover. O comportamento eletromiográfico (EMG) e as variáveis cinemáticas selecionadas das quatro técnicas de viragem foram comparadas no segundo estudo, com ênfase particular na eficácia de rotação e no empurrada da parede. O terceiro estudo comparou as características hidrodinâmicas e a estratégia de arrancamento relacionadas à eficácia fase de saída da viragem. O quarto estudo empregou os modelos de aprendizado de máquina linear e baseado em árvore para identificar os modelos altamente realistas de desempenho das viragens com base em variáveis temporais, cinemáticas e cinéticas abrangentes (incluindo hidrodinâmicas). Finalmente, vimos como um programa de intervenção de quatro semanas que ofereceu aumentos sistemáticos na interferência contextual permite que nadadores de grupos de idade melhorem as técnicas de viragens de nado de costas para nado bruços. Os resultados apontaram que um programa de intervenção de quatro semanas melhorou as técnicas de giro de nado de costas para peito de nadadores de grupos de idade. De acordo com os modelos lineares e não lineares previstos, o desempenho de torneamento otimizado foi alcançado por um compromisso e continuidade entre as fases de entrada e saída das viragens. A eficácia de virada foi diretamente influenciada pelas contribuições da velocidade de aproximação à parede e habilidades de rotação na melhoria da velocidade de rolamento e força de empurrão. A atividade eletromiográfica integrada de oito músculos foi semelhante em quatro variantes de rotação, o eretor da espinha e o gastrocnémio medial foram os mais ativados, com viragem crossover tendo os maiores valores de Iemg na rotação e empurre. Uma comparação de medidas cinéticas revela que a viragem bucket tem um pico de força mais alto, enquanto um impulso horizontal mais alto leva a uma velocidade de empurre mais alta na viragem crossover. A viragem somersault apresentou um deslizamento ligeiramente mais profundo, enquanto as características hidrodinâmicas e a estratégia de saída, como determinantes da eficácia da saída na viragem, não diferiram significativamente entre as quatro técnicas de viragem. PALAVRAS-CHAVE: NATACAO, FAIXAS ETARIA, BIOMECHANICA, VIRAGENSUnderstanding the acquisition of expertise in turning skills from the perspective of a developing young swimmer generally requires the development of a relationship and interaction between characteristics of effective movement and the teaching-learning process. However, few turning biomechanical analyses on age-group swimmers have been conducted to facilitate biomechanical diagnosis and scientific intervention in backstroke to breaststroke turning techniques. The objective of this Thesis were twofold: (i) to identify the biomechanical features that have the greatest influence in each of the four different backstroke to breaststroke turning techniques and (ii) to investigate the effect of four weeks and 16 systematically contextual interference training sessions of 40 minutes each, followed by blocked, serial, and random practice on facilitating learning of the backstroke to breaststroke turning techniques. A multidisciplinary approach, including a motion capture system, a customized underwater tri-axial force plate, surface electromyography (EMG) and an inverse dynamic approach utilizing hydrodynamic variables, was used to accomplish this goal. We began (in the first study) by identifying the key biomechanical features and determinants of open, somersault, bucket, and crossover turning performance. The electromyographic (EMG) behavior and selected kinematic variables of the four backstroke to breaststroke turning techniques were compared in the second study, with a particular emphasis on rotation and push-off efficacy. The third analysis compared the hydrodynamic characteristics and pull-out strategy related to turn out efficacy. The fourth study employed the linear and tree-based machine learning models to identify the highly realistic models of backstroke to breaststroke turn performance based on comprehensive temporal, kinematic, kinetic (including hydrodynamic) variables. Finally, we looked at how a four-week intervention program that offered systematic increases in contextual interference allows age-group swimmers to improve backstroke to breaststroke turning techniques. Results pointed out that a four-week intervention program improved age-group swimmers' backstroke to breaststroke turning techniques. According to the linear and nonlinear predicted models, optimized turning performance was achieved by a compromise and continuity between the turn-in and turn-out phases. Turn-in efficacy was directly influenced by the contributions of approaching velocity to the wall and rotating abilities in improving rolling velocity and pushing-off force. The integrated electromyographic activity of eight muscles was similar across four turning techniques. The erector spinae and gastrocnemius medialis were the most activated muscles, with the crossover turn having the highest rotation and push-off iEMG values. A comparison of kinetic measures reveals that the bucket turn has a higher peak force, while a higher horizontal impulse leads to higher push-off velocity in the crossover turn. The somersault has a slightly deeper gliding depth, while hydrodynamic characteristics and pull-out strategy, as determinants of turn-out efficacy, did not differ between turning techniques

Sensing with Earables: A Systematic Literature Review and Taxonomy of Phenomena

Earables have emerged as a unique platform for ubiquitous computing by augmenting ear-worn devices with state-of-the-art sensing. This new platform has spurred a wealth of new research exploring what can be detected on a wearable, small form factor. As a sensing platform, the ears are less susceptible to motion artifacts and are located in close proximity to a number of important anatomical structures including the brain, blood vessels, and facial muscles which reveal a wealth of information. They can be easily reached by the hands and the ear canal itself is affected by mouth, face, and head movements. We have conducted a systematic literature review of 271 earable publications from the ACM and IEEE libraries. These were synthesized into an open-ended taxonomy of 47 different phenomena that can be sensed in, on, or around the ear. Through analysis, we identify 13 fundamental phenomena from which all other phenomena can be derived, and discuss the different sensors and sensing principles used to detect them. We comprehensively review the phenomena in four main areas of (i) physiological monitoring and health, (ii) movement and activity, (iii) interaction, and (iv) authentication and identification. This breadth highlights the potential that earables have to offer as a ubiquitous, general-purpose platform

Sensing with Earables: A Systematic Literature Review and Taxonomy of Phenomena

Earables have emerged as a unique platform for ubiquitous computing by augmenting ear-worn devices with state-of-the-art sensing. This new platform has spurred a wealth of new research exploring what can be detected on a wearable, small form factor. As a sensing platform, the ears are less susceptible to motion artifacts and are located in close proximity to a number of important anatomical structures including the brain, blood vessels, and facial muscles which reveal a wealth of information. They can be easily reached by the hands and the ear canal itself is affected by mouth, face, and head movements. We have conducted a systematic literature review of 271 earable publications from the ACM and IEEE libraries. These were synthesized into an open-ended taxonomy of 47 different phenomena that can be sensed in, on, or around the ear. Through analysis, we identify 13 fundamental phenomena from which all other phenomena can be derived, and discuss the different sensors and sensing principles used to detect them. We comprehensively review the phenomena in four main areas of (i) physiological monitoring and health, (ii) movement and activity, (iii) interaction, and (iv) authentication and identification. This breadth highlights the potential that earables have to offer as a ubiquitous, general-purpose platform

Effects of diabetes and aging on posture and acceleration thresholds during lateral translations

Research objectives. One source of falls in the elderly may be an inability to sufficiently adjust to transient postural perturbations or slips. Identifying useful predictors of fall potential, as well as factors that affect the ability of an individual to detect a movement of the standing support surface may provide insight into postural stability and methods to increase stability in elders. To do this, acceleration thresholds to short, precise, lateral platform translations and the resultant psychophysical responses of adults with early Type 2 diabetes to age-matched controls and young adults were measured. Methods. Using an innovative SLIP-FALLS platform, short (1, 2, 4, 8,and 16mm) lateral perturbations were presented to 21 individuals—9 young adults, 6 neurologically intact elder adults, and 6 elders with diabetes using a two-alternative forced choice (2AFC) protocol. All subjects underwent lower-limb nerve conduction velocity determination, air conduction velocity testing, Semmes-Weinstein monofilament thresholds, the Mini Mental Status Exam, and reaction time tests to touch, tone and high acceleration, 4mm super-threshold perturbations. Results. All three groups had significantly different thresholds at all small (\u3c4mm) movement lengths, with the diabetic neuropathy group having a markedly higher acceleration threshold (P \u3c 0.001); the healthy elderly, which, in turn, had markedly higher thresholds than young adults. Patients with neuropathy had significantly higher reaction times to platform movements and touches to the plantar sole, but not for auditory tones. Both elderly groups had a significantly higher reaction time to superthreshold platform movement than did young adults. Sensory tests revealed slower nerve conduction velocities, higher air conduction velocities, and lower cognitive ability in the diabetic group. Conclusions. A marked decrease in perception of very small moves due to aging and diabetic neuropathy could well have a detrimental effect on postural control mechanisms. The higher prevalence of falls in the elderly and elderly diabetics may be due to decreased perceptual ability, slower nerve conduction velocities, and slowing reaction times compounded by larger amounts of imparted energy needed for detection of a slipping event

Earables: Wearable Computing on the Ears

Kopfhörer haben sich bei Verbrauchern durchgesetzt, da sie private Audiokanäle anbieten, zum Beispiel zum Hören von Musik, zum Anschauen der neuesten Filme während dem Pendeln oder zum freihändigen Telefonieren. Dank diesem eindeutigen primären Einsatzzweck haben sich Kopfhörer im Vergleich zu anderen Wearables, wie zum Beispiel Smartglasses, bereits stärker durchgesetzt. In den letzten Jahren hat sich eine neue Klasse von Wearables herausgebildet, die als "Earables" bezeichnet werden. Diese Geräte sind so konzipiert, dass sie in oder um die Ohren getragen werden können. Sie enthalten verschiedene Sensoren, um die Funktionalität von Kopfhörern zu erweitern. Die räumliche Nähe von Earables zu wichtigen anatomischen Strukturen des menschlichen Körpers bietet eine ausgezeichnete Plattform für die Erfassung einer Vielzahl von Eigenschaften, Prozessen und Aktivitäten. Auch wenn im Bereich der Earables-Forschung bereits einige Fortschritte erzielt wurden, wird deren Potenzial aktuell nicht vollständig abgeschöpft. Ziel dieser Dissertation ist es daher, neue Einblicke in die Möglichkeiten von Earables zu geben, indem fortschrittliche Sensorikansätze erforscht werden, welche die Erkennung von bisher unzugänglichen Phänomenen ermöglichen. Durch die Einführung von neuartiger Hardware und Algorithmik zielt diese Dissertation darauf ab, die Grenzen des Erreichbaren im Bereich Earables zu verschieben und diese letztlich als vielseitige Sensorplattform zur Erweiterung menschlicher Fähigkeiten zu etablieren. Um eine fundierte Grundlage für die Dissertation zu schaffen, synthetisiert die vorliegende Arbeit den Stand der Technik im Bereich der ohr-basierten Sensorik und stellt eine einzigartig umfassende Taxonomie auf der Basis von 271 relevanten Publikationen vor. Durch die Verbindung von Low-Level-Sensor-Prinzipien mit Higher-Level-Phänomenen werden in der Dissertation anschließ-end Arbeiten aus verschiedenen Bereichen zusammengefasst, darunter (i) physiologische Überwachung und Gesundheit, (ii) Bewegung und Aktivität, (iii) Interaktion und (iv) Authentifizierung und Identifizierung. Diese Dissertation baut auf der bestehenden Forschung im Bereich der physiologischen Überwachung und Gesundheit mit Hilfe von Earables auf und stellt fortschrittliche Algorithmen, statistische Auswertungen und empirische Studien vor, um die Machbarkeit der Messung der Atemfrequenz und der Erkennung von Episoden erhöhter Hustenfrequenz durch den Einsatz von In-Ear-Beschleunigungsmessern und Gyroskopen zu demonstrieren. Diese neuartigen Sensorfunktionen unterstreichen das Potenzial von Earables, einen gesünderen Lebensstil zu fördern und eine proaktive Gesundheitsversorgung zu ermöglichen. Darüber hinaus wird in dieser Dissertation ein innovativer Eye-Tracking-Ansatz namens "earEOG" vorgestellt, welcher Aktivitätserkennung erleichtern soll. Durch die systematische Auswertung von Elektrodenpotentialen, die um die Ohren herum mittels eines modifizierten Kopfhörers gemessen werden, eröffnet diese Dissertation einen neuen Weg zur Messung der Blickrichtung. Dabei ist das Verfahren weniger aufdringlich und komfortabler als bisherige Ansätze. Darüber hinaus wird ein Regressionsmodell eingeführt, um absolute Änderungen des Blickwinkels auf der Grundlage von earEOG vorherzusagen. Diese Entwicklung eröffnet neue Möglichkeiten für Forschung, welche sich nahtlos in das tägliche Leben integrieren lässt und tiefere Einblicke in das menschliche Verhalten ermöglicht. Weiterhin zeigt diese Arbeit, wie sich die einzigarte Bauform von Earables mit Sensorik kombinieren lässt, um neuartige Phänomene zu erkennen. Um die Interaktionsmöglichkeiten von Earables zu verbessern, wird in dieser Dissertation eine diskrete Eingabetechnik namens "EarRumble" vorgestellt, die auf der freiwilligen Kontrolle des Tensor Tympani Muskels im Mittelohr beruht. Die Dissertation bietet Einblicke in die Verbreitung, die Benutzerfreundlichkeit und den Komfort von EarRumble, zusammen mit praktischen Anwendungen in zwei realen Szenarien. Der EarRumble-Ansatz erweitert das Ohr von einem rein rezeptiven Organ zu einem Organ, das nicht nur Signale empfangen, sondern auch Ausgangssignale erzeugen kann. Im Wesentlichen wird das Ohr als zusätzliches interaktives Medium eingesetzt, welches eine freihändige und augenfreie Kommunikation zwischen Mensch und Maschine ermöglicht. EarRumble stellt eine Interaktionstechnik vor, die von den Nutzern als "magisch und fast telepathisch" beschrieben wird, und zeigt ein erhebliches ungenutztes Potenzial im Bereich der Earables auf. Aufbauend auf den vorhergehenden Ergebnissen der verschiedenen Anwendungsbereiche und Forschungserkenntnisse mündet die Dissertation in einer offenen Hard- und Software-Plattform für Earables namens "OpenEarable". OpenEarable umfasst eine Reihe fortschrittlicher Sensorfunktionen, die für verschiedene ohrbasierte Forschungsanwendungen geeignet sind, und ist gleichzeitig einfach herzustellen. Hierdurch werden die Einstiegshürden in die ohrbasierte Sensorforschung gesenkt und OpenEarable trägt somit dazu bei, das gesamte Potenzial von Earables auszuschöpfen. Darüber hinaus trägt die Dissertation grundlegenden Designrichtlinien und Referenzarchitekturen für Earables bei. Durch diese Forschung schließt die Dissertation die Lücke zwischen der Grundlagenforschung zu ohrbasierten Sensoren und deren praktischem Einsatz in realen Szenarien. Zusammenfassend liefert die Dissertation neue Nutzungsszenarien, Algorithmen, Hardware-Prototypen, statistische Auswertungen, empirische Studien und Designrichtlinien, um das Feld des Earable Computing voranzutreiben. Darüber hinaus erweitert diese Dissertation den traditionellen Anwendungsbereich von Kopfhörern, indem sie die auf Audio fokussierten Geräte zu einer Plattform erweitert, welche eine Vielzahl fortschrittlicher Sensorfähigkeiten bietet, um Eigenschaften, Prozesse und Aktivitäten zu erfassen. Diese Neuausrichtung ermöglicht es Earables sich als bedeutende Wearable Kategorie zu etablieren, und die Vision von Earables als eine vielseitige Sensorenplattform zur Erweiterung der menschlichen Fähigkeiten wird somit zunehmend realer

On the role of gestures in human-robot interaction

This thesis investigates the gestural interaction problem and in particular the usage of gestures for human-robot interaction. The lack of a clear definition of the problem statement and a common terminology resulted in a fragmented field of research where building upon prior work is rare. The scope of the research presented in this thesis, therefore, consists in laying the foundation to help the community to build a more homogeneous research field. The main contributions of this thesis are twofold: (i) a taxonomy to define gestures; and (ii) an ingegneristic definition of the gestural interaction problem. The contributions resulted is a schema to represent the existing literature in a more organic way, helping future researchers to identify existing technologies and applications, also thanks to an extensive literature review. Furthermore, the defined problem has been studied in two of its specialization: (i) direct control and (ii) teaching of a robotic manipulator, which leads to the development of technological solutions for gesture sensing, detection and classification, which can possibly be applied to other contexts

Predicting the motions and forces of wearable robotic systems using optimal control

Wearable robotic systems are being developed to prevent injury to the low back. Designing a wearable robotic system is challenging because it is difficult to predict how the exoskeleton will affect the movement of the wearer. To aid the design of exoskeletons, we formulate and numerically solve an optimal control problem (OCP) to predict the movements and forces of a person as they lift a 15 kg box from the ground both without (human-only OCP) and with (with-exo OCP) the aid of an exoskeleton. We model the human body as a sagittal-plane multibody system that is actuated by agonist and antagonist pairs of muscle torque generators (MTGs) at each joint. Using the literature as a guide, we have derived a set of MTGs that capture the active torque–angle, passive torque–angle, and torque–velocity characteristics of the flexor and extensor groups surrounding the hip, knee, ankle, lumbar spine, shoulder, elbow, and wrist. Uniquely, these MTGs are continuous to the second derivative and so are compatible with gradient-based optimization. The exoskeleton is modeled as a rigid-body mechanism that is actuated by a motor at the hip and the lumbar spine and is coupled to the wearer through kinematic constraints. We evaluate our results by comparing our predictions with experimental recordings of a human subject. Our results indicate that the predicted peak lumbar-flexion angles and extension torques of the human-only OCP are within the range reported in the literature. The results of the with-exo OCP indicate that the exoskeleton motors should provide relatively little support during the descent to the box but apply a substantial amount of support during the ascent phase. The support provided by the lumbar motor is similar in shape to the net moment generated at the L5/S1 joint by the body; however, the support of the hip motor is more complex because it is coupled to the passive forces that are being generated by the hip extensors of the human subject. The simulations developed in this study are specific to lifting motion and a lower back exoskeleton. However, the framework is applicable for simulating a large range of robotic-assisted human motions

Reliability And Validity Of Virtual Build Methodology For Ergonomics Analyses

This study was conducted to assess the validity and reliability of the Virtual Build methodology for ergonomics design and analysis. Thirty-six human subjects participated in this study and performed a set of six tasks. The tasks were performed twice in both real and virtual environment. The subject?s motion in performing tasks was analyzed by ergonomics assessments by using Virtual Build methodology. Criteria-related validity was evaluated by comparing the Virtual Build ergonomic assessment results with manual calculation. Test-retest reliability was evaluated by correlating ergonomics assessment results between two trials. The result shows that the Virtual Build methodology is reliable for ergonomic assessments. 48 out of 51 reliability index scores are higher than 0.8. The Virtual Build with virtual environment has lower over-time reliability performance than the real environment. The t-test shows that the Virtual Build is valid for 1991 NIOSH lifting equation assessment when using real environment. Some improvements in enhancing human perception need to be done to make Virtual Build valid when using virtual environment