Bimanual Motor Strategies and Handedness Role During Human-Exoskeleton Haptic Interaction

Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic strategies that occur during bimanual coupled tasks are still a scientific debate despite modern advances in haptics and robotics. Current technologies may have the potential to provide realistic scenarios involving the entire upper limb extremities during multi-joint movements but are not yet exploited to their full potential. The present study explores how hands dynamically interact when manipulating a shared object through the use of two impedance-controlled exoskeletons programmed to simulate bimanually coupled manipulation of virtual objects. We enrolled twenty-six participants (2 groups: right-handed and left-handed) who were requested to use both hands to grab simulated objects across the robot workspace and place them in specific locations. The virtual objects were rendered with different dynamic proprieties and textures influencing the manipulation strategies to complete the tasks. Results revealed that the roles of hands are related to the movement direction, the haptic features, and the handedness preference. Outcomes suggested that the haptic feedback affects bimanual strategies depending on the movement direction. However, left-handers show better control of the force applied between the two hands, probably due to environmental pressures for right-handed manipulations

Realization of Universal Quantum Gates with Spin-Qudits in Colloidal Quantum Dots

Hyperfine interactions in a single Mn-ion confined in a quantum dot (QD) are exploited to create a qudit, that is, a multilevel quantum-bit system, with well-defined, addressable, and robust set of spin states for the realization of universal quantum gates. An arbitrary superposition of states between selected hyperfine energy level pairs is generated and probed by using electron double resonance detected nuclear magnetic resonance (EDNMR). This enables the observation of Rabi oscillations and the experimental realization of NOT and √ SWAP universal quantum gates that are robust against decoherence. Our protocol for cyclical preparation, manipulation, and read-out of logic gates offers opportunities for the integration of qudits in scalable quantum circuit architectures beyond solid state electron spin qubits

The AGILE Mission

AGILE is an Italian Space Agency mission dedicated to observing the gamma-ray Universe. The AGILE's very innovative instrumentation for the first time combines a gamma-ray imager (sensitive in the energy range 30 MeV-50 GeV), a hard X-ray imager (sensitive in the range 18-60 keV), a calorimeter (sensitive in the range 350 keV-100 MeV), and an anticoincidence system. AGILE was successfully launched on 2007 April 23 from the Indian base of Sriharikota and was inserted in an equatorial orbit with very low particle background. Aims. AGILE provides crucial data for the study of active galactic nuclei, gamma-ray bursts, pulsars, unidentified gamma-ray sources, galactic compact objects, supernova remnants, TeV sources, and fundamental physics by microsecond timing. Methods. An optimal sky angular positioning (reaching 0.1 degrees in gamma- rays and 1-2 arcmin in hard X-rays) and very large fields of view (2.5 sr and 1 sr, respectively) are obtained by the use of Silicon detectors integrated in a very compact instrument. Results. AGILE surveyed the gamma- ray sky and detected many Galactic and extragalactic sources during the first months of observations. Particular emphasis is given to multifrequency observation programs of extragalactic and galactic objects. Conclusions. AGILE is a successful high-energy gamma-ray mission that reached its nominal scientific performance. The AGILE Cycle-1 pointing program started on 2007 December 1, and is open to the international community through a Guest Observer Program

Ultralight vector dark matter search using data from the KAGRA O3GK run

Among the various candidates for dark matter (DM), ultralight vector DM can be probed by laser interferometric gravitational wave detectors through the measurement of oscillating length changes in the arm cavities. In this context, KAGRA has a unique feature due to differing compositions of its mirrors, enhancing the signal of vector DM in the length change in the auxiliary channels. Here we present the result of a search for U(1)B−L gauge boson DM using the KAGRA data from auxiliary length channels during the first joint observation run together with GEO600. By applying our search pipeline, which takes into account the stochastic nature of ultralight DM, upper bounds on the coupling strength between the U(1)B−L gauge boson and ordinary matter are obtained for a range of DM masses. While our constraints are less stringent than those derived from previous experiments, this study demonstrates the applicability of our method to the lower-mass vector DM search, which is made difficult in this measurement by the short observation time compared to the auto-correlation time scale of DM

A 3-DOF Parallel Robot With Spherical Motion for the Rehabilitation and Evaluation of Balance Performance

In this paper a novel electrically actuated parallel robot with three degrees-of-freedom (3 DOF) for dynamic postural studies is presented. The design has been described, the solution to the inverse kinematics has been found, and a numerical solution for the direct kinematics has been proposed. The workspace of the implemented robot is characterized by an angular range of motion of about +/- 10 degrees for roll and pitch when yaw is in the range +/- 15 degrees. The robot was constructed and the orientation accuracy was tested by means of an optoelectronic system and by imposing a sinusoidal input, with a frequency of 1 Hz and amplitude of 10 degrees, along the three axes, in sequence. The collected data indicated a phase delay of 1 degrees and an amplitude error of 0.5%-1.5%; similar values were observed for cross-axis sensitivity errors. We also conducted a clinical application on a group of normal subjects, who were standing in equilibrium on the robot base with eyes open (EO) and eyes closed (EC), which was rotated with a tri-axial sinusoidal trajectory with a frequency of 0.5 Hz and amplitude 5 degrees for roll and pitch and 10 degrees for the yaw. The postural configuration of the subjects was recorded with an optoelectronic system. However, due to the mainly technical nature of this paper, only initial validation outcomes are reported here. The clinical application showed that only the tilt and displacement on the sagittal pane of head, trunk, and pelvis in the trials conducted with eyes closed were affected by drift and that the reduction of the yaw rotation and of the mediolateral translation was not a controlled parameter, as happened, instead, for the other anatomical directions

SISTEMA DI RILEVAZIONE DI UNA LEGGE DI MOTO E RELATIVO METODO.

A system for assessing a law of motion using, on a support (1), a number of linear-type monoaxial or biaxial accelerometers (2) with a number of sensitive axes greater than or equal to twelve, it being provided that the axes (3, 4) of each accelerometer (2) do not match, nor are they parallel to the axes (3, 4) of the other accel- erometers (2), said accelerometers (2) being connected to data processing means (6)