A Haptics Symposium Retrospective: 20 Years

The very first "Haptics Symposium" actually went by the name "Issues in the Development of Kinesthetic Displays of Teleoperation and Virtual environments." The word "Haptic" didn't make it into the name until the next year. Not only was the most important word absent but so were RFPs, journals and commercial markets. And yet, as we prepare for the 2012 symposium, haptics is a thriving and amazingly diverse field of endeavor. In this talk we'll reflect on the origins of this field and on its evolution over the past twenty years, as well as the evolution of the Haptics Symposium itself. We hope to share with you some of the excitement we've felt along the way, and that we continue to feel as we look toward the future of our field

Static single-arm force generation with kinematic constraints

Abstract This study investigates natural single-arm interac-tion with kinematic constraints. Smooth, frictionless, kinematic constraints reduce the degrees-of-freedom of motion at the hand, but add force freedoms. These force freedoms allow the hand to push and pull against the constraints with no effect on the task. Understanding how subjects take advantage of kinematic constraints will be useful in designing constraint surfaces for assisted manipulation. This paper reports the results of an experiment studying how subjects make use of the presence of a kinematic constraint in a static planar single-arm task. Subjects are asked to hold a handle that is free to slide on a linear rail, and to apply a force tangent to the rail to resist a pulling force. Thus the goal of the task is to hold the handle stationary. Subjects are also free to apply any force normal to the rail, as these forces have no effect on the task. This freedom does not exist without a kinematic constraint. We nd that subjects make use of the force freedom by applying signicant forces against the constraint in a consistent and constraint-conguration-dependent fashion. We show that the constraint forces can be predicted by a convex, scale-invariant objective function on the hand force space. The level curves of this objective function can be found directly from the experimental data without any biomechanical modeling. I

Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

The purpose of the work is to enhance remote operations of robotic systems for D&D tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D&D, as well as 2,000 hr DAWP D&D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system

Exploring adaptive Expertise as a target for engineering design education

ABSTRACT In this paper we present the concept of adaptive expertise and relate this concept to the design curriculum offered by the Institute for Design Engineering and Applications (IDEA) at Northwestern University. The model of adaptive expertise suggests that instruction and assessment include a balance of "efficiency" and "innovation". These two dimensions are first described from a theoretical perspective, then are discussed in more concrete terms in the context of the design experiences provided in IDEA. The model of adaptive expertise suggests that by providing learning experiences that balance these two dimensions we better prepare students to flexibly apply their knowledge in innovative ways. Since these aims are so closely aligned with the goals of design, we offer adaptive expertise as the target for engineering design education

New Supernova Constraints on Sterile Neutrino Production

We consider the possibility that a light sterile-neutrino species $\nu_S$ can be produced by $\nu_e$ scattering during the cooling of a proto-neutron star. If we parameterize the sterile neutrino production cross-section by a parameter $A$ as $\sigma (\nu_e X\rightarrow \nu_S X) = A \sigma(\nu_e X\rightarrow \nu_e X)$, where $X$ is an electron, neutron or proton, we show that $A$ is constrained by limits to the conversion of $\nu_e$ to $\nu_S$ in the region between the sterile-neutrino trapping region and the electron-neutrino trapping region. This consideration excludes values of $A$ in the range between 10^{-4} \la A \la 10^{-1}.Comment: 12 pages; Late

Binary systems and their nuclear explosions

Peer ReviewedPreprin

The control of dynamically interacting systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1988.Includes bibliographical references.by James Edward Colgate.Ph.D