Replication data for: Evaluation by expert dancers of a robot that performs partnered stepping via haptic interaction

In this study, we investigate the potential for a wheeled mobile robot with a human-like upper-body to perform partnered stepping with people based on the forces applied to its end effectors. The study contains relevant biomechanics data as mat files, questionnaire responses as excel files, and related python code used to run the study with the robot

Red light induced holographic storage in an azobenzene polymethacrylate at room temperature

9 figures.Holographic diffraction gratings have been induced at room temperature (RT) using red light (633 nm), in a liquid crystalline side chain cyano-azobenzene polymethacrylate polymer. Stable gratings have been obtained under simultaneous irradiation with the interference pattern created with two coherent linearly polarized red light beams and UV (around 350 nm) unpolarized light. The main contributions to the diffraction efficiency can come from the photoinduced orientation of the azo units and perhaps from changes in the light transmitted through the regions of the film that have been illuminated with both red and UV light and those only illuminated with the UV light. Higher efficiency is achieved if the red light polarization is perpendicular to the grating vector than if it is parallel to that vector. Stable gratings have also been induced with either sequential or simultaneous irradiation with blue (488 nm) linearly polarized light and the red interference pattern. The contributions to the efficiency can have the same origin as under UV and red light illumination. The highest efficiency is achieved under simultaneous illumination with both blue and red light polarizations perpendicular to the grating vector.The financial support from the CICYT, Spain, under project no. MAT2002-04118-C02 is gratefully acknowledged. This work has been performed within the COST P8 Action.Peer reviewe

Final questionnaire responses regarding overall experience.

<p>Response level of 1 = “Strongly Disagree,” 3 = “Neutral,” 5 = “Strongly Agree.” <i>p</i>-values show results from one-sample <i>t</i>-tests comparing with a response level of 3.</p

High admittance gain results in higher subjective dance performance.

<p>(A) Motor intent, (B) Motor performance, (C) Motor skill. Bars show mean and standard error. Response level of 1 = “Strongly Disagree,” 3 = “Neutral,” 5 = “Strongly Agree.”</p

Correlation between subjective and objective measures.

<p>Biomechanical measures are listed on the rows and subjective measures are listed on the columns in descending order of number of significant correlations. Black and white boxes denote significant negative and positive Pearson’s correlations coefficients, respectively. Gray denotes non-significant correlations. For example, with increasing lag, participants report that the robot follower moves and understands the leader’s motor intention less well. Also, as the interaction force increases, the participants report that the robot follower becomes less easy to communicate or move with. Similarly, as the variability in hand-sternum / CoM-CoM distance increases, the follower understands or moves according to the leader’s motor intention less accurately. Interestingly, cadence variability, RMS, and MSE values have very little correlation with any of the subjective responses. Such useful insights are possible through this correlation matrix between the biomechanical measures and subjective responses.</p

Bode plot for Low Gain, Low Stiffness.

<p>Input and output are force and velocity at the end effector, respectively. Empirical curve shows measured response of the robot. Theoretical curve shows the response of the ideal spring-damper model.</p

Glossary of dance terminology.

<p>This glossary is used for terms in the Dance Quality Questionnaire (<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0125179#pone.0125179.t002" target="_blank">Table 2</a>).</p><p>Glossary of dance terminology.</p