Orochi: Investigating Requirements and Expectations for Multipurpose Daily Used Supernumerary Robotic Limbs

Supernumerary robotic limbs (SRLs) present many opportunities for daily use. However, their obtrusiveness and limitations in interaction genericity hinder their daily use. To address challenges of daily use, we extracted three design considerations from previous literature and embodied them in a wearable we call Orochi. The considerations include the following: 1) multipurpose use, 2) wearability by context, and 3) unobtrusiveness in public. We implemented Orochi as a snake-shaped robot with 25 DoFs and two end effectors, and demonstrated several novel interactions enabled by its limber design. Using Orochi, we conducted hands-on focus groups to explore how multipurpose SRLs are used daily and we conducted a survey to explore how they are perceived when used in public. Participants approved Orochi's design and proposed different use cases and postures in which it could be worn. Orochi's unobtrusive design was generally well received, yet novel interactions raise several challenges for social acceptance. We discuss the significance of our results by highlighting future research opportunities based on the design, implementation, and evaluation of Orochi

Synthesis of Prosthesis Architectures and Design of Prosthetic Devices for Upper Limb Amputees

This chapter presents a procedure for the Determination of the Optimal Prosthesis Architecture for upper limb amputees (DOPA). The presented approach can consistently manage both the clinical aspects and the technical issues involved in the design of electromechanically actuated prostheses. The procedure is composed on one hand of algorithms useful for analyzing the patients\u2019 requirements and on the other hand of algorithms that perform kinematic and kinetostatic simulations of several architectures of artificial arms attempting to fulfil important activities of daily living. The systematic evaluation of the prosthesis models\u2019 performance can methodically guide designers in the synthesis of the optimal prosthesis that best suits the patients\u2019 requirements

A Multi-Modal Sensing Glove for Human Manual-Interaction Studies

We present an integrated sensing glove that combines two of the most visionary wearable sensing technologies to provide both hand posture sensing and tactile pressure sensing in a unique, lightweight, and stretchable device. Namely, hand posture reconstruction employs Knitted Piezoresistive Fabrics that allows us to measure bending. From only five of these sensors (one for each finger) the full hand pose of a 19 degrees of freedom (DOF) hand model is reconstructed leveraging optimal sensor placement and estimation techniques. To this end, we exploit a-priori information of synergistic coordination patterns in grasping tasks. Tactile sensing employs a piezoresistive fabric allowing us to measure normal forces in more than 50 taxels spread over the palmar surface of the glove. We describe both sensing technologies, report on the software integration of both modalities, and describe a preliminary evaluation experiment analyzing hand postures and force patterns during grasping. Results of the reconstruction are promising and encourage us to push further our approach with potential applications in neuroscience, virtual reality, robotics and tele-operation

Leap Motion Sensor for Natural User Interface

In Human Computer Interaction (HCI) research area, there is an increasing tendency to make devices as simple and as natural as possible for use. These devices are aiming to make input and output techniques, interaction, etc., easier. In the input domain, sensors monitor and interpret head, eye, face and even whole body movements. Interacting with the computer, hands are the most effective tool of general purpose, due to their functionality in communication and manipulation. Using hands as an input device is an attractive method for ensuring interaction between man and computer. This paper gives an overview of the Leap Motion devices as a technology that enables natural interaction between man and computer in NUI (natural user interface) implementation. The main idea to maximize the naturalness of the user environment and the use of hand movements is in the application of the sensor fusion of two Leap Motion devices. Applying sensor fusion of two Leap Motion devices will increase the range of hand movement and the interaction within the environment, which will again contribute to the natural user interface (NUI). The suggested method can be used offline or in real time, and can benefit from a wide range of applications, where the gesture of the hand and fingers is the focus of significance and estimation effect

Wearable Hand Exoskeleton Systems for Virtual Reality and Rehabilitation

Department of Mechanical Engineeringthe aim is to overcome the limitations of conventional systems in terms of both wearability and portability. As the hand receives diverse physical information and manipulates different type of objects, conventional systems contain many sensors and actuators, and are both large and heavy. Thus, hand exoskeleton systems exhibiting high wearability and portability while measuring finger motions and delivering forces would be highly valuable. For VR hand exoskeleton systems, a wearable hand exoskeleton system with force-controllable actuator modules was developed to ensure free finger motion and force mode control. The linkage structure ensures motion with three degrees of freedom (DOF) and provides a large fingertip workspacethe finger postures assumed when interacting with objects are appropriate. A series elastic actuator (SEA) with an actuator and an elastic element was used to fabricate compact actuator modules. Actuator friction was eliminated using a friction compensation algorithm. A proportional differential (PD) controller, optimized by a linear quadratic (LQ) method featuring a disturbance observer (DOB), was used to ensure accurate force mode control even during motion. The force control performance of the actuator module was verified in force generation experiments including stationary and arbitrary end-effector motions. The forces applied to the fingertips, which are the principal parts of the hand that interact with objects, were kinematically analyzed via both simulations and experiments. To overcome the weak point of previous system, a wearable hand exoskeleton system featuring finger motion measurement and force feedback was developed and evaluated in terms of user experience (UX). The finger structures for the thumb, index, and middle fingers, which play important roles when grasping objects, satisfy full range of motion (ROM). The system estimates all joint angles of these three digits using a dedicated algorithmmeasurement accuracy was experimentally evaluated to verify system performance. The UX performance was evaluated by 15 undergraduate students who completed questionnaires assessing usability and utilitarian value following trials conducted in the laboratory. All subjects were highly satisfied with both usability and the utilitarian nature of the system, not only because control and feedback were intuitive but also because performance was accurate. For rehabilitation, a highly portable exoskeleton featuring flexion/extension finger exercises was developed. The exoskeleton features two four-bar linkages reflecting the natural metacarpophalangeal (MCP) and proximal phalangeal (PIP) joint angles. During optimization, the design parameters were adjusted to reflect normal finger trajectories, which vary by finger length and finger joint ROM. To allow for passive physical impedance, a spring was installed to generate the forces that guided the fingers. The moments transmitted to the MCP and PIP joints were estimated via finite element method (FEM) analysis and the cross-sectional areas of the links were manually designed by reference to the expected joint moments. Finger motion and force distribution experiments verified that the system guided the fingers effectively, allowed for the desired finger motions, and distributed the required moments to the joints (as revealed by FEM analysis).This thesis reports the development of hand exoskeleton systems, for use in virtual reality (VR) environments and for hand rehabilitationclos

Mobile pupillometry in manual assembly : a pilot study exploring the wearability and external validity of a renowned mental workload lab measure

Human operators in the upcoming Industry 4.0 workplace will face accelerating job demands such as elevated cognitive complexity. Unobtrusive objective measures of mental workload (MWL) are therefore in high demand as indicated by both theory and practice. This pilot study explored the wearability and external validity of pupillometry, a MWL measure robustly validated in laboratory settings and now deployable in work settings demanding operator mobility. In an ecologically valid work environment, 21 participants performed two manual assemblies - one of low and one of high complexity - while wearing eye-tracking glasses for pupil size measurement. Results revealed that the device was perceived as fairly wearable in terms of physical and mental comfort. In terms of validity, no significant differences in mean pupil size were found between the assemblies even though subjective mental workload differed significantly. Exploratory analyses on the pupil size when attending to the assembly instructions only, were inconclusive. The present work suggests that current lab-based procedures might not be adequate yet for in-the-field mobile pupillometry. From a broader perspective, these findings also invite a more nuanced view on the current validity of lab-validated physiological MWL-measures when applied in real-life settings. We therefore conclude with some key insights for future development of mobile pupillometry

Wearable haptic systems for the fingertip and the hand: taxonomy, review and perspectives

In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand

Devices for Hyper-Polluted Futures

This research explores what types of devices humanity might build in order to breathe ambient air in hyper-polluted futures. One such device is the PERA - Personal Ecosystem Respirator Apparatus: a backpack-style wearable which contains the user’s personal-ecosystem to provide them with clean air through a respirator mask. Using the approach of speculative design, the intention is to highlight the consequences of our actions and inactions on climate change and show a world in which we have failed to address the issues of air pollution and global warming. Following a hybrid methodology created from a mixed methods approach, the research was conducted through an iterative process. Throughout the research, there was an increasing focus on the symbiotic relationship between the user and their ecosystem, and how one protects and provides for the other. The result of the work is a speculative wearable device which relies on James Auger’s theory of perceptual bridges in order to help build a believable and relatable future for the viewer

Introducing wearable haptics for rendering velocity feedback in VR serious games for neuro-rehabilitation of children

Rehabilitation in virtual reality offers advantages in terms of flexibility and parametrization of exercises, repeatability, and continuous data recording and analysis of the progress of the patient, also promoting high engagement and cognitive challenges. Still, most of the proposed virtual settings provide a high quality, immersive visual and audio feedback, without involving the sense of touch. In this paper, we show the design, implementation, and first evaluation of a gaming scenario for upper limb rehabilitation of children with cerebral palsy. In particular, we took care to introduce haptic feedback as a useful source of sensory information for the proposed task, considering—at the same time—the strict constraints for haptic wearable devices to comply with patient’s comfort, residual motor abilities, and with the embedded tracking features of the latest VR technologies. To show the potential of haptics in a rehabilitation setup, the proposed device and rendering method have been used to improve the velocity control of upper limb movements during the VR exercise, given its importance as a motor recovery metric. Eight healthy participants were enrolled, and results showed that haptic feedback can lead to lower speed tracking errors and higher movement smoothness, making the proposed setup suitable to be used in a rehabilitation context as a way to promote movement fluidity during exercises

Use of foot for direct interactions with entities of a virtual environment displayed on a mobile device

With this paper, we report a novel wearable in-terface dedicated to provide new types of 3D interactions with mobile devices. Proposed interface is based on the fact that the foot can be exploited in the interaction with a virtual 3D world. By using several force sensors incorporated in the sole and an accelerometer attached to the shoe; gestures performed with the foot are interpreted in order to let the user interact with a 3D virtual environment. Being located inside a shoe this interface is fully compatible to constraints related to mobile devices. Indeed as a wearable and transparent device it can be carried everywhere and therefore can be exploited everywhere