Simple smart homes web interfaces for blind people

Last-decade great advances in technology have contributed to make home smarter and more comfortable, especially for people with disabilities. A lot of low cost solutions are available on the market, which can be controlled remotely by a Home Automation System (HAS). Unfortunately, the user interfaces are usually designed to be visually oriented which can exclude some user categories, like those who are blind. This paper focuses on the design of usable Web user interfaces for Home Automation Systems, with a special attention to the functions as well as the interface arrangement in order to enhance the interaction via screen reader. The proposed indications could inspire other designers to make the user experience more satisfying and effective for people who interact via screen reader

Design Guidelines forWeb Interfacesof Home Automation SystemsAccessible via Screen Reader

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Radiation therapy after breast conserving surgery increases long-term breast conservation for DCIS patients.

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Human to robot hand motion mapping methods: review and classification

In this article, the variety of approaches proposed in literature to address the problem of mapping human to robot hand motions are summarized and discussed. We particularly attempt to organize under macro-categories the great quantity of presented methods, that are often difficult to be seen from a general point of view due to different fields of application, specific use of algorithms, terminology and declared goals of the mappings. Firstly, a brief historical overview is reported, in order to provide a look on the emergence of the human to robot hand mapping problem as a both conceptual and analytical challenge that is still open nowadays. Thereafter, the survey mainly focuses on a classification of modern mapping methods under six categories: direct joint, direct Cartesian, taskoriented, dimensionality reduction based, pose recognition based and hybrid mappings. For each of these categories, the general view that associates the related reported studies is provided, and representative references are highlighted. Finally, a concluding discussion along with the authors’ point of view regarding future desirable trends are reported.This work was supported in part by the European Commission’s Horizon 2020 Framework Programme with the project REMODEL under Grant 870133 and in part by the Spanish Government under Grant PID2020-114819GB-I00.Peer ReviewedPostprint (published version

Subcutaneous Tissue Expander Placement with Synthetic Titanium-Coated Mesh in Breast Reconstruction: Long-term Results

A subcutaneous, prepectoral, muscle-sparing approach has been recently described for implant-based breast reconstruction. This is a preliminary series of 2-stage breast reconstructions by means of tissue expander placed subcutaneously with the support of a titanium-coated polypropylene mesh. A pilot series of cases was started in 2012. Inclusion criteria were informed consent, age less than 80 years, normal body mass index (range, 18.5–24.9), no T4 and metastatic cancers, no comorbidities, and nonsmoking patients. Expander losses, infections, seromas, skin/nipple necrosis, wound dehiscence, and reinterventions were registered in follow-up visits. Furthermore, patients were followed up in second-stage procedures and for at least 1 year from implant positioning to collect any surgical complication, reinterventions, cosmetic outcome, and oncological data. Between June 2012 and March 2014, 25 cases were enrolled in the study. Expander/implant loss rate was 0%. Skin/nipple necrosis rate was 4%. Infections rate was 12% after first-stage and 4% after second-stage procedure. Seromas rate was 0%. Five (20%) fat graft procedures were performed over the expander before second-stage reconstruction, and no reinterventions were required after second stage. Patients mean score was 99 for cosmetic outcome satisfaction, in a 0–100 scale. Subcutaneous 2-stage reconstruction with synthetic mesh proved safe and feasible. Patients satisfaction is very good after 14 months median follow-up form definitive implant placement. Although the present study involved only a small number of cases, a tissue-expander subcutaneous reconstruction seems to have promising results. Whenever pectoralis major muscle can be spared, a conservative reconstruction might be an option

Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

Trajectory learning is one of the key components of robot Programming by Demonstration approaches, which in many cases, especially in industrial practice, aim at defining complex manipulation patterns. In order to enhance these methods, which are generally based on a physical interaction between the user and the robot, guided along the desired path, an additional input channel is considered in this article. The hand stiffness, that the operator continuously modulates during the demonstration, is estimated from the forearm surface electromyography and translated into a request for a higher or lower accuracy level. Then, a constrained optimization problem is built (and solved) in the framework of smoothing B-splines to obtain a minimum curvature trajectory approximating, in this manner, the taught path within the precision imposed by the user. Experimental tests in different applicative scenarios, involving both position and orientation, prove the benefits of the proposed approach in terms of the intuitiveness of the programming procedure for the human operator and characteristics of the final motion

Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

Trajectory learning is one of the key components of robot Programming by Demonstration approaches, which in many cases, especially in industrial practice, aim at defining complex manipulation patterns. In order to enhance these methods, which are generally based on a physical interaction between the user and the robot, guided along the desired path, an additional input channel is considered in this article. The hand stiffness, that the operator continuously modulates during the demonstration, is estimated from the forearm surface electromyography and translated into a request for a higher or lower accuracy level. Then, a constrained optimization problem is built (and solved) in the framework of smoothing B-splines to obtain a minimum curvature trajectory approximating, in this manner, the taught path within the precision imposed by the user. Experimental tests in different applicative scenarios, involving both position and orientation, prove the benefits of the proposed approach in terms of the intuitiveness of the programming procedure for the human operator and characteristics of the final motion

Electromyography Based Human-Robot Interfaces for the Control of Artificial Hands and Wearable Devices

The design of robotic systems is currently facing human-inspired solutions as a road to replicate the human ability and flexibility in performing motor tasks. Especially for control and teleoperation purposes, the human-in-the-loop approach is a key element within the framework know as Human-Robot Interface. This thesis reports the research activity carried out for the design of Human-Robot Interfaces based on the detection of human motion intentions from surface electromyography. The main goal was to investigate intuitive and natural control solutions for the teleoperation of both robotic hands during grasping tasks and wearable devices during elbow assistive applications. The design solutions are based on the human motor control principles and surface electromyography interpretation, which are reviewed with emphasis on the concept of synergies. The electromyography based control strategies for the robotic hand grasping and the wearable device assistance are also reviewed. The contribution of this research for the control of artificial hands rely on the integration of different levels of the motor control synergistic organization, and on the combination of proportional control and machine learning approaches under the guideline of user-centred intuitiveness in the Human-Robot Interface design specifications. From the side of the wearable devices, the control of a novel upper limb assistive device based on the Twisted String Actuation concept is faced. The contribution regards the assistance of the elbow during load lifting tasks, exploring a simplification in the use of the surface electromyography within the design of the Human-Robot Interface. The aim is to work around complex subject-dependent algorithm calibrations required by joint torque estimation methods