Toil and trade: functional bone adaptation and social allocations of labour in urban medieval Scotland

Measures of functional bone adaptation have often been applied to archaeological populations to reconstruct behaviours from the past. Although there has been increasing interest in women’s history and feminist archaeology, work that centres functional adaptation in women is still uncommon. The three most frequently used methods, entheseal changes (EC), long bone cross-sectional geometry (CSG), and degenerative joint changes (DJC), have rarely been applied in conjunction. Skeletal collections from Scotland have not been studied as frequently as others in Britain and activity data are in short supply. The primary aim of this thesis was to investigate patterns of skeletal changes compatible with social allocations of labour in urban medieval Scotland (c.800-1600 CE). The secondary aim was to determine the accuracy, value, and efficacy of using the three individual and concurrent methods. Sociohistorical, clinical, and palaeopathological data were synthesised to contextualise interpretations of functional adaptation. 204 individuals from medieval Edinburgh, Leith, St Andrews, Perth, and Dunbar were examined. The effects of gender and social status on bone were found via all three methods. Females showed evidence of a wide variety of strenuous labour that was similar for both high and low status groups. Women’s work was bimanual, but asymmetrical, and often performed below shoulder level using the elbow and forearm such as sweeping with a broom or holding an object with one arm. Evidence of labour in males was asymmetrical and consistent with frequent work at or above shoulder level. Men’s tasks were more often unimanual, specialised, and had less variety like carrying heavy objects on one shoulder. High status males, however, displayed less wear at the shoulder and more use of the forearm. Affluent and educated men likely performed more detailed and specialised sedentary tasks like writing or fine metalworking. This research confirms the value of clinical, anatomical, and kinesiological data to interpreting bone functional adaptation and highlights the effects of a highly gendered and stratified society on bone. This work adds to the growing field of feminist bioarchaeology and reveals the extraordinary contribution of women to the economy in urban medieval Scotland

Conceptual free-form styling in virtual environments

This dissertation introduces the tools for designing complete models from scratch directly in a head-tracked, table-like virtual work environment. The models consist of free-form surfaces, and are constructed by drawing a network of curves directly in space. This is accomplished by using a tracked pen-like input device. Interactive deformation tools for curves and surfaces are proposed and are based on variational methods. By aligning the model with the left hand, editing is made possible with the right hand, corresponding to a natural distribution of tasks using both hands. Furthermore, in the emerging field of 3D interaction in virtual environments, particularly with regard to system control, this work uses novel methods to integrate system control tasks, such as selecting tools, and workflow of shape design. The aim of this work is to propose more suitable user interfaces to computersupported conceptual shape design applications. This would be beneficial since it is a field that lacks adequate support from standard desktop systems.Diese Dissertation beschreibtWerkzeuge zum Entwurf kompletter virtueller Modelle von Grund auf. Dies geschieht direkt in einer tischartigen, virtuellen Arbeitsumge-bung mit Hilfe von Tracking der Hände und der Kopfposition. Die Modelle sind aus Freiformlächen aufgebaut und werden als Netz von Kurven mit Hilfe eines getrack-ten, stiftartigen Eingabegerätes direkt im Raum gezeichnet. Es werden interaktive Deformationswerkzeuge für Kurven und Flächen vorgestellt, die auf Methoden des Variational Modeling basieren. Durch das Ausrichten des Modells mit der linken Hand wird das Editieren mit der rechten Hand erleichtert. Dies entspricht einer natürlichen Aufteilung von Aufgaben auf beide Hände. Zusätzlich stellt diese Arbeit neue Techniken für die 3D-Interaktion in virtuellen Umgebungen, insbesondere im Bereich Anwendungskontrolle, vor, die die Aufgabe der Werkzeugauswahl in den Arbeitsablauf der Formgestaltung integrieren. Das Ziel dieser Arbeit ist es, besser geeignete Schnittstellen für den computer-unterstützten, konzeptionellen Formentwurf zur Verfügung zu stellen; ein Gebiet, für das Standard-Desktop-Systeme wenig geeignete Unterstützung bieten

Conceptual free-form styling in virtual environments

This dissertation introduces the tools for designing complete models from scratch directly in a head-tracked, table-like virtual work environment. The models consist of free-form surfaces, and are constructed by drawing a network of curves directly in space. This is accomplished by using a tracked pen-like input device. Interactive deformation tools for curves and surfaces are proposed and are based on variational methods. By aligning the model with the left hand, editing is made possible with the right hand, corresponding to a natural distribution of tasks using both hands. Furthermore, in the emerging field of 3D interaction in virtual environments, particularly with regard to system control, this work uses novel methods to integrate system control tasks, such as selecting tools, and workflow of shape design. The aim of this work is to propose more suitable user interfaces to computersupported conceptual shape design applications. This would be beneficial since it is a field that lacks adequate support from standard desktop systems.Diese Dissertation beschreibtWerkzeuge zum Entwurf kompletter virtueller Modelle von Grund auf. Dies geschieht direkt in einer tischartigen, virtuellen Arbeitsumge-bung mit Hilfe von Tracking der Hände und der Kopfposition. Die Modelle sind aus Freiformlächen aufgebaut und werden als Netz von Kurven mit Hilfe eines getrack-ten, stiftartigen Eingabegerätes direkt im Raum gezeichnet. Es werden interaktive Deformationswerkzeuge für Kurven und Flächen vorgestellt, die auf Methoden des Variational Modeling basieren. Durch das Ausrichten des Modells mit der linken Hand wird das Editieren mit der rechten Hand erleichtert. Dies entspricht einer natürlichen Aufteilung von Aufgaben auf beide Hände. Zusätzlich stellt diese Arbeit neue Techniken für die 3D-Interaktion in virtuellen Umgebungen, insbesondere im Bereich Anwendungskontrolle, vor, die die Aufgabe der Werkzeugauswahl in den Arbeitsablauf der Formgestaltung integrieren. Das Ziel dieser Arbeit ist es, besser geeignete Schnittstellen für den computer-unterstützten, konzeptionellen Formentwurf zur Verfügung zu stellen; ein Gebiet, für das Standard-Desktop-Systeme wenig geeignete Unterstützung bieten

3D Multimodal Interaction with Physically-based Virtual Environments

The virtual has become a huge field of exploration for researchers: it could assist the surgeon, help the prototyping of industrial objects, simulate natural phenomena, be a fantastic time machine or entertain users through games or movies. Far beyond the only visual rendering of the virtual environment, the Virtual Reality aims at -literally- immersing the user in the virtual world. VR technologies simulate digital environments with which users can interact and, as a result, perceive through different modalities the effects of their actions in real time. The challenges are huge: the user's motions need to be perceived and to have an immediate impact on the virtual world by modifying the objects in real-time. In addition, the targeted immersion of the user is not only visual: auditory or haptic feedback needs to be taken into account, merging all the sensory modalities of the user into a multimodal answer. The global objective of my research activities is to improve 3D interaction with complex virtual environments by proposing novel approaches for physically-based and multimodal interaction. I have laid the foundations of my work on designing the interactions with complex virtual worlds, referring to a higher demand in the characteristics of the virtual environments. My research could be described within three main research axes inherent to the 3D interaction loop: (1) the physically-based modeling of the virtual world to take into account the complexity of the virtual object behavior, their topology modifications as well as their interactions, (2) the multimodal feedback for combining the sensory modalities into a global answer from the virtual world to the user and (3) the design of body-based 3D interaction techniques and devices for establishing the interfaces between the user and the virtual world. All these contributions could be gathered in a general framework within the 3D interaction loop. By improving all the components of this framework, I aim at proposing approaches that could be used in future virtual reality applications but also more generally in other areas such as medical simulation, gesture training, robotics, virtual prototyping for the industry or web contents.Le virtuel est devenu un vaste champ d'exploration pour la recherche et offre de nos jours de nombreuses possibilités : assister le chirurgien, réaliser des prototypes de pièces industrielles, simuler des phénomènes naturels, remonter dans le temps ou proposer des applications ludiques aux utilisateurs au travers de jeux ou de films. Bien plus que le rendu purement visuel d'environnement virtuel, la réalité virtuelle aspire à -littéralement- immerger l'utilisateur dans le monde virtuel. L'utilisateur peut ainsi interagir avec le contenu numérique et percevoir les effets de ses actions au travers de différents retours sensoriels. Permettre une véritable immersion de l'utilisateur dans des environnements virtuels de plus en plus complexes confronte la recherche en réalité virtuelle à des défis importants: les gestes de l'utilisateur doivent être capturés puis directement transmis au monde virtuel afin de le modifier en temps-réel. Les retours sensoriels ne sont pas uniquement visuels mais doivent être combinés avec les retours auditifs ou haptiques dans une réponse globale multimodale. L'objectif principal de mes activités de recherche consiste à améliorer l'interaction 3D avec des environnements virtuels complexes en proposant de nouvelles approches utilisant la simulation physique et exploitant au mieux les différentes modalités sensorielles. Dans mes travaux, je m'intéresse tout particulièrement à concevoir des interactions avec des mondes virtuels complexes. Mon approche peut être décrite au travers de trois axes principaux de recherche: (1) la modélisation dans les mondes virtuels d'environnements physiques plausibles où les objets réagissent de manière naturelle, même lorsque leur topologie est modifiée ou lorsqu'ils sont en interaction avec d'autres objets, (2) la mise en place de retours sensoriels multimodaux vers l'utilisateur intégrant des composantes visuelles, haptiques et/ou sonores, (3) la prise en compte de l'interaction physique de l'utilisateur avec le monde virtuel dans toute sa richesse : mouvements de la tête, des deux mains, des doigts, des jambes, voire de tout le corps, en concevant de nouveaux dispositifs ou de nouvelles techniques d'interactions 3D. Les différentes contributions que j'ai proposées dans chacun de ces trois axes peuvent être regroupées au sein d'un cadre plus général englobant toute la boucle d'interaction 3D avec les environnements virtuels. Elles ouvrent des perspectives pour de futures applications en réalité virtuelle mais également plus généralement dans d'autres domaines tels que la simulation médicale, l'apprentissage de gestes, la robotique, le prototypage virtuel pour l'industrie ou bien les contenus web

3D Multimodal Interaction with Physically-based Virtual Environments

The virtual has become a huge field of exploration for researchers: it could assist the surgeon, help the prototyping of industrial objects, simulate natural phenomena, be a fantastic time machine or entertain users through games or movies. Far beyond the only visual rendering of the virtual environment, the Virtual Reality aims at -literally- immersing the user in the virtual world. VR technologies simulate digital environments with which users can interact and, as a result, perceive through different modalities the effects of their actions in real time. The challenges are huge: the user's motions need to be perceived and to have an immediate impact on the virtual world by modifying the objects in real-time. In addition, the targeted immersion of the user is not only visual: auditory or haptic feedback needs to be taken into account, merging all the sensory modalities of the user into a multimodal answer. The global objective of my research activities is to improve 3D interaction with complex virtual environments by proposing novel approaches for physically-based and multimodal interaction. I have laid the foundations of my work on designing the interactions with complex virtual worlds, referring to a higher demand in the characteristics of the virtual environments. My research could be described within three main research axes inherent to the 3D interaction loop: (1) the physically-based modeling of the virtual world to take into account the complexity of the virtual object behavior, their topology modifications as well as their interactions, (2) the multimodal feedback for combining the sensory modalities into a global answer from the virtual world to the user and (3) the design of body-based 3D interaction techniques and devices for establishing the interfaces between the user and the virtual world. All these contributions could be gathered in a general framework within the 3D interaction loop. By improving all the components of this framework, I aim at proposing approaches that could be used in future virtual reality applications but also more generally in other areas such as medical simulation, gesture training, robotics, virtual prototyping for the industry or web contents.Le virtuel est devenu un vaste champ d'exploration pour la recherche et offre de nos jours de nombreuses possibilités : assister le chirurgien, réaliser des prototypes de pièces industrielles, simuler des phénomènes naturels, remonter dans le temps ou proposer des applications ludiques aux utilisateurs au travers de jeux ou de films. Bien plus que le rendu purement visuel d'environnement virtuel, la réalité virtuelle aspire à -littéralement- immerger l'utilisateur dans le monde virtuel. L'utilisateur peut ainsi interagir avec le contenu numérique et percevoir les effets de ses actions au travers de différents retours sensoriels. Permettre une véritable immersion de l'utilisateur dans des environnements virtuels de plus en plus complexes confronte la recherche en réalité virtuelle à des défis importants: les gestes de l'utilisateur doivent être capturés puis directement transmis au monde virtuel afin de le modifier en temps-réel. Les retours sensoriels ne sont pas uniquement visuels mais doivent être combinés avec les retours auditifs ou haptiques dans une réponse globale multimodale. L'objectif principal de mes activités de recherche consiste à améliorer l'interaction 3D avec des environnements virtuels complexes en proposant de nouvelles approches utilisant la simulation physique et exploitant au mieux les différentes modalités sensorielles. Dans mes travaux, je m'intéresse tout particulièrement à concevoir des interactions avec des mondes virtuels complexes. Mon approche peut être décrite au travers de trois axes principaux de recherche: (1) la modélisation dans les mondes virtuels d'environnements physiques plausibles où les objets réagissent de manière naturelle, même lorsque leur topologie est modifiée ou lorsqu'ils sont en interaction avec d'autres objets, (2) la mise en place de retours sensoriels multimodaux vers l'utilisateur intégrant des composantes visuelles, haptiques et/ou sonores, (3) la prise en compte de l'interaction physique de l'utilisateur avec le monde virtuel dans toute sa richesse : mouvements de la tête, des deux mains, des doigts, des jambes, voire de tout le corps, en concevant de nouveaux dispositifs ou de nouvelles techniques d'interactions 3D. Les différentes contributions que j'ai proposées dans chacun de ces trois axes peuvent être regroupées au sein d'un cadre plus général englobant toute la boucle d'interaction 3D avec les environnements virtuels. Elles ouvrent des perspectives pour de futures applications en réalité virtuelle mais également plus généralement dans d'autres domaines tels que la simulation médicale, l'apprentissage de gestes, la robotique, le prototypage virtuel pour l'industrie ou bien les contenus web

Shared control for natural motion and safety in hands-on robotic surgery

Hands-on robotic surgery is where the surgeon controls the tool's motion by applying forces and torques to the robot holding the tool, allowing the robot-environment interaction to be felt though the tool itself. To further improve results, shared control strategies are used to combine the strengths of the surgeon with those of the robot. One such strategy is active constraints, which prevent motion into regions deemed unsafe or unnecessary. While research in active constraints on rigid anatomy has been well-established, limited work on dynamic active constraints (DACs) for deformable soft tissue has been performed, particularly on strategies which handle multiple sensing modalities. In addition, attaching the tool to the robot imposes the end effector dynamics onto the surgeon, reducing dexterity and increasing fatigue. Current control policies on these systems only compensate for gravity, ignoring other dynamic effects. This thesis presents several research contributions to shared control in hands-on robotic surgery, which create a more natural motion for the surgeon and expand the usage of DACs to point clouds. A novel null-space based optimization technique has been developed which minimizes the end effector friction, mass, and inertia of redundant robots, creating a more natural motion, one which is closer to the feeling of the tool unattached to the robot. By operating in the null-space, the surgeon is left in full control of the procedure. A novel DACs approach has also been developed, which operates on point clouds. This allows its application to various sensing technologies, such as 3D cameras or CT scans and, therefore, various surgeries. Experimental validation in point-to-point motion trials and a virtual reality ultrasound scenario demonstrate a reduction in work when maneuvering the tool and improvements in accuracy and speed when performing virtual ultrasound scans. Overall, the results suggest that these techniques could increase the ease of use for the surgeon and improve patient safety.Open Acces

Increasing Transparency and Presence of Teleoperation Systems Through Human-Centered Design

Teleoperation allows a human to control a robot to perform dexterous tasks in remote, dangerous, or unreachable environments. A perfect teleoperation system would enable the operator to complete such tasks at least as easily as if he or she was to complete them by hand. This ideal teleoperator must be perceptually transparent, meaning that the interface appears to be nearly nonexistent to the operator, allowing him or her to focus solely on the task environment, rather than on the teleoperation system itself. Furthermore, the ideal teleoperation system must give the operator a high sense of presence, meaning that the operator feels as though he or she is physically immersed in the remote task environment. This dissertation seeks to improve the transparency and presence of robot-arm-based teleoperation systems through a human-centered design approach, specifically by leveraging scientific knowledge about the human motor and sensory systems. First, this dissertation aims to improve the forward (efferent) teleoperation control channel, which carries information from the human operator to the robot. The traditional method of calculating the desired position of the robot\u27s hand simply scales the measured position of the human\u27s hand. This commonly used motion mapping erroneously assumes that the human\u27s produced motion identically matches his or her intended movement. Given that humans make systematic directional errors when moving the hand under conditions similar to those imposed by teleoperation, I propose a new paradigm of data-driven human-robot motion mappings for teleoperation. The mappings are determined by having the human operator mimic the target robot as it autonomously moves its arm through a variety of trajectories in the horizontal plane. Three data-driven motion mapping models are described and evaluated for their ability to correct for the systematic motion errors made in the mimicking task. Individually-fit and population-fit versions of the most promising motion mapping model are then tested in a teleoperation system that allows the operator to control a virtual robot. Results of a user study involving nine subjects indicate that the newly developed motion mapping model significantly increases the transparency of the teleoperation system. Second, this dissertation seeks to improve the feedback (afferent) teleoperation control channel, which carries information from the robot to the human operator. We aim to improve a teleoperation system a teleoperation system by providing the operator with multiple novel modalities of haptic (touch-based) feedback. We describe the design and control of a wearable haptic device that provides kinesthetic grip-force feedback through a geared DC motor and tactile fingertip-contact-and-pressure and high-frequency acceleration feedback through a pair of voice-coil actuators mounted at the tips of the thumb and index finger. Each included haptic feedback modality is known to be fundamental to direct task completion and can be implemented without great cost or complexity. A user study involving thirty subjects investigated how these three modalities of haptic feedback affect an operator\u27s ability to control a real remote robot in a teleoperated pick-and-place task. This study\u27s results strongly support the utility of grip-force and high-frequency acceleration feedback in teleoperation systems and show more mixed effects of fingertip-contact-and-pressure feedback

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications

XXII International Conference on Mechanics in Medicine and Biology - Abstracts Book

This book contain the abstracts presented the XXII ICMMB, held in Bologna in September 2022. The abstracts are divided following the sessions scheduled during the conference

Down Syndrome

Down syndrome, the most cutting-edge book in the field congenital disorders. This book features up-to-date, well referenced research and review articles on Down syndrome. Research workers, scientists, medical graduates and pediatricians will find it to be an excellent source for references and review. It is hoped that such individuals will view this book as a resource that can be consulted during all stages of their research and clinical investigations. Key features of this book are: Common diseases in Down syndrome Molecular Genetics Neurological Disorders Prenatal Diagnosis and Genetic Counselling Whilst aimed primarily at research workers on Down syndrome, we hope that the appeal of this book will extend beyond the narrow confines of academic interest and be of interest to a wider audience, especially parents, relatives and health-care providers who work with infants and children with Down syndrome