Haptic Displayof Realistic Tool Contact via Dynamically Compensated Control of a Dedicated Actuator

High frequency contact accelerations convey important information that the vast majority of haptic interfaces cannot render. Building on prior work, we present an approach to haptic interface design that uses a dedicated linear voice coil actuator and a dynamic system model to allow the user to feel these signals. This approach was tested through use in a bilateral teleoperation experiment where a user explored three textured surfaces under three different acceleration control architectures: none, constant gain, and dynamic compensation. The controllers that use the dedicated actuator vastly outperform traditional position-position control at conveying realistic contact accelerations. Analysis of root mean square error, linear regression, and discrete Fourier transforms of the acceleration data also indicate a slight performance benefit for dynamic compensation over constant gain

Mucosal boosting enhances vaccine protection against SARS-CoV-2 in macaques

A limitation of current SARS-CoV-2 vaccines is that they provide minimal protection against infection with current Omicron subvariant

Dimensional Reduction of High-Frequencey Accelerations for Haptic Rendering

Haptics research has seen several recent efforts at understanding and recreating real vibrations to improve the quality of haptic feedback in both virtual environments and teleoperation. To simplify the modeling process and enable the use of single-axis actuators, these previous efforts have used just one axis of a three-dimensional vibration signal, even though the main vibration mechanoreceptors in the hand are know to detect vibrations in all directions. Furthermore, the fact that these mechanoreceptors are largely insensitive to the direction of high-frequency vibrations points to the existence of a transformation that can reduce three-dimensional high-frequency vibration signals to a one-dimensional signal without appreciable perceptual degradation. After formalizing the requirements for this transformation, this paper describes and compares several candidate methods of varying degrees of sophistication, culminating in a novel frequency-domain solution that performs very well on our chosen metrics

High Frequency Acceleration Feedback Significantly Increases the Realism of Haptically Rendered Textured Surfaces

Almost every physical interaction generates high frequency vibrations, especially if one of the objects is a rigid tool. Previous haptics research has hinted that the inclusion or exclusion of these signals plays a key role in the realism of haptically rendered surface textures, but this connection has not been formally investigated until now. This paper presents a human subject study that compares the performance of a variety of surface rendering algorithms for a master-slave teleoperation system; each controller provides the user with a different combination of position and acceleration feedback, and subjects compared the renderings with direct tool-mediated exploration of the real surface. We use analysis of variance to examine quantitative performance metrics and qualitative realism ratings across subjects. The results of this study show that algorithms that include high-frequency acceleration feedback in combination with position feedback achieve significantly higher realism ratings than traditional position feedback alone. Furthermore, we present a frequency-domain metric for quantifying a controller\u27s acceleration feedback performance; given a constant surface stiffness, the median of this metric across subjects was found to have a significant positive correlation with median realism rating

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

The Intuitive da Vinci system enables surgeons to see and manipulate structures deep within the body via tiny incisions. Though the robotic tools mimic one\u27s hand motions, surgeons cannot feel what the tools are touching, a striking contrast to non-robotic techniques. We have developed a new method for partially restoring this lost sense of touch. Our VerroTouch system measures the vibrations caused by tool contact and immediately recreates them on the master handles for the surgeon to feel. This augmentation enables the surgeon to feel the texture of rough surfaces, the start and end of contact with manipulated objects, and other important tactile events. While it does not provide low frequency forces, we believe vibrotactile feedback will be highly useful for surgical task execution, a hypothesis we we will test in future work

SARS-CoV-2 receptor binding domain displayed on HBsAg virus–like particles elicits protective immunity in macaques

Authorized vaccines against SARS-CoV-2 remain less available in low- and middle-income countries due to insufficient supply, high costs, and storage requirements. Global immunity could still benefit from new vaccines using widely available, safe adjuvants, such as alum and protein subunits, suited to low-cost production in existing manufacturing facilities. Here, a clinical-stage vaccine candidate comprising a SARS-CoV-2 receptor binding domain–hepatitis B surface antigen virus–like particle elicited protective immunity in cynomolgus macaques. Titers of neutralizing antibodies (>104) induced by this candidate were above the range of protection for other licensed vaccines in nonhuman primates. Including CpG 1018 did not significantly improve the immunological responses. Vaccinated animals challenged with SARS-CoV-2 showed reduced median viral loads in bronchoalveolar lavage (~3.4 log10) and nasal mucosa (~2.9 log10) versus sham controls. These data support the potential benefit of this design for a low-cost modular vaccine platform for SARS-CoV-2 and other variants of concern or betacoronaviruses

Differential Kinetics of Immune Responses Elicited by Covid-19 Vaccines

To the Editor: Previous studies have shown that the BNT162b2 (Pfizer–BioNTech), mRNA-1273 (Moderna), and Ad26.COV2.S (Johnson & Johnson–Janssen) vaccines provide robust protective efficacy against coronavirus disease 2019 (Covid-19). Here, we report comparative kinetics of humoral and cellular immune responses elicited by the two-dose BNT162b2 vaccine (in 31 participants), the two-dose mRNA-1273 vaccine (in 22 participants), and the one-dose Ad26.COV2.S vaccine (in 8 participants). We evaluated antibody and T-cell responses from peak immunity at 2 to 4 weeks after the second immunization in recipients of the messenger RNA (mRNA) vaccines or after the first immunization in recipients of the Ad26.COV2.S vaccine to 8 months (Table S1 in the Supplementary Appendix, available with the full text of this letter at NEJM.org)

Immunogenicity of Ad26.COV2.S vaccine against SARS-CoV-2 variants in humans

The Ad26.COV2.S vaccine1–3 has demonstrated clinical efficacy against symptomatic COVID-19, including against the B.1.351 variant that is partially resistant to neutralizing antibodies1. However, the immunogenicity of this vaccine in humans against SARS-CoV-2 variants of concern remains unclear. Here we report humoral and cellular immune responses from 20 Ad26.COV2.S vaccinated individuals from the COV1001 phase 1/2 clinical trial2 against the original SARS-CoV-2 strain WA1/2020 as well as against the B.1.1.7, CAL.20C, P.1., and B.1.351 variants of concern. Ad26.COV2.S induced median pseudovirus neutralizing antibody titers that were 5.0- and 3.3-fold lower against the B.1.351 and P.1 variants, respectively, as compared with WA1/2020 on day 71 following vaccination. Median binding antibody titers were 2.9- and 2.7-fold lower against the B.1.351 and P.1 variants, respectively, as compared with WA1/2020. Antibody-dependent cellular phagocytosis, complement deposition, and NK cell activation responses were largely preserved against the B.1.351 variant. CD8 and CD4 T cell responses, including central and effector memory responses, were comparable among the WA1/2020, B.1.1.7, B.1.351, P.1, and CAL.20C variants. These data show that neutralizing antibody responses induced by Ad26.COV2.S were reduced against the B.1.351 and P.1 variants, but functional non-neutralizing antibody responses and T cell responses were largely preserved against SARS-CoV-2 variants. These findings have implications for vaccine protection against SARS-CoV-2 variants of concern