Exploring haptic interfacing with a mobile robot without visual feedback

Search and rescue scenarios are often complicated by low or no visibility conditions. The lack of visual feedback hampers orientation and causes significant stress for human rescue workers. The Guardians project [1] pioneered a group of autonomous mobile robots assisting a human rescue worker operating within close range. Trials were held with fire fighters of South Yorkshire Fire and Rescue. It became clear that the subjects by no means were prepared to give up their procedural routine and the feel of security they provide: they simply ignored instructions that contradicted their routines

Social Support and the Perception of Geographical Slant.

The visual perception of geographical slant is influenced by physiological resources, such as physical fitness, age, and being physically refreshed. In two studies we tested whether a psychosocial resource, social support, can also affect the visual perception of slants. Participants accompanied by a friend estimated a hill to be less steep when compared to participants who were alone (Study 1). Similarly, participants who thought of a supportive friend during an imagery task saw a hill as less steep than participants who either thought of a neutral person or a disliked person (Study 2). In both studies, the effects of social relationships on visual perception appear to be mediated by relationship quality (i.e., relationship duration, interpersonal closeness, warmth). Artifacts such as mood, social desirability, and social facilitation did not account for these effects. This research demonstrates that an interpersonal phenomenon, social support, can influence visual perception

Beyond Gazing, Pointing, and Reaching: A Survey of Developmental Robotics

Developmental robotics is an emerging field located at the intersection of developmental psychology and robotics, that has lately attracted quite some attention. This paper gives a survey of a variety of research projects dealing with or inspired by developmental issues, and outlines possible future directions

Towards human technology symbiosis in the haptic mode

Search and rescue operations are often undertaken in dark and noisy environments in which rescue teams must rely on haptic feedback for exploration and safe exit. However, little attention has been paid specifically to haptic sensitivity in such contexts or to the possibility of enhancing communicational proficiency in the haptic mode as a life-preserving measure. Here we discuss the design of a haptic guide robot, inspired by careful study of the communication between blind person and guide dog. In the case of this partnership, the development of a symbiotic relationship between person and dog, based on mutual trust and confidence, is a prerequisite for successful task performance. We argue that a human-technology symbiosis is equally necessary and possible in the case of the robot guide. But this is dependent on the robot becoming 'transparent technology' in Andy Clark's sense. We report on initial haptic mode experiments in which a person uses a simple mobile mechanical device (a metal disk fixed with a rigid handle) to explore the immediate environment. These experiments demonstrate the extreme sensitivity and trainability of haptic communication and the speed with which users develop and refine their haptic proficiencies in using the device, permitting reliable and accurate discrimination between objects of different weights. We argue that such trials show the transformation of the mobile device into a transparent information appliance and the beginnings of the development of a symbiotic relationship between device and human user. We discuss how these initial explorations may shed light on the more general question of how a human mind, on being exposed to an unknown environment, may enter into collaboration with an external information source in order to learn about, and navigate, that environment

Enactivism and ethnomethodological conversation analysis as tools for expanding Universal Design for Learning: the case of visually impaired mathematics students

Blind and visually impaired mathematics students must rely on accessible materials such as tactile diagrams to learn mathematics. However, these compensatory materials are frequently found to offer students inferior opportunities for engaging in mathematical practice and do not allow sensorily heterogenous students to collaborate. Such prevailing problems of access and interaction are central concerns of Universal Design for Learning (UDL), an engineering paradigm for inclusive participation in cultural praxis like mathematics. Rather than directly adapt existing artifacts for broader usage, UDL process begins by interrogating the praxis these artifacts serve and then radically re-imagining tools and ecologies to optimize usability for all learners. We argue for the utility of two additional frameworks to enhance UDL efforts: (a) enactivism, a cognitive-sciences view of learning, knowing, and reasoning as modal activity; and (b) ethnomethodological conversation analysis (EMCA), which investigates participants’ multimodal methods for coordinating action and meaning. Combined, these approaches help frame the design and evaluation of opportunities for heterogeneous students to learn mathematics collaboratively in inclusive classrooms by coordinating perceptuo-motor solutions to joint manipulation problems. We contextualize the thesis with a proposal for a pluralist design for proportions, in which a pair of students jointly operate an interactive technological device

Following a Robot using a Haptic Interface without Visual Feedback

Search and rescue operations are often undertaken in dark and noisy environments in which rescue teams must rely on haptic feedback for navigation and safe exit. In this paper, we discuss designing and evaluating a haptic interface to enable a human being to follow a robot through an environment with no-visibility. We first briefly analyse the task at hand and discuss the considerations that have led to our current interface design. The second part of the paper describes our testing procedure and the results of our first informal tests. Based on these results we discuss future improvements of our design

Effects of Action Intention, Binocular Depth Cues, Motion Parallax, Haptic Feedback, and Body Posture on the Perception of the Ebbinghaus Visual Illusion

Researchers have long observed different illusion magnitudes in verbal response tasks and visually-directed action tasks. The cause of such differences has been the topic of debate. The “two visual systems hypothesis” (TVSH) suggests that two separate visual pathways independently control a certain type of tasks. According to this theory, the difference in illusion magnitudes is caused by the different performance of these two pathways. An alternative theory is the “two modes of processing” (TMOP) hypothesis, which states that the two visual processing modes function within a single visual pathway but weigh the same set of visual information differently. According to this theory, the drop of illusion magnitudes in visually-directed action tasks is the result of such different weights. The three experiments presented here focus on the effect of motion parallax and binocular depth cues, haptic feedback from 3D target disks, and body postures, respectively. Results suggest that while haptic feedback and body postures are critical to the reduction in illusion magnitudes, motion parallax and binocular depth cues seem to be irrelevant. Limitations and future directions are suggested

Human robot interaction in the absence of visual and aural feedback: Exploring the haptic sense

The potential of robot swarms for Search and Rescue has been shown by the Guardians project (EU, 2006-2010); however the project also showed the problem of human robot interaction in smoky (non-visibility) and noisy conditions. The REINS project (UK, 2011-2015) focused on human robot interaction in such conditions. This paper briefly reviews the scientific context relevant for designing a haptic interface for human robot navigation and examines what we have achieved since then. The aim is to put the major design issues into context