A pilot study towards the implementation of perceptual and motor adaptation in robots

The aim of our study is to understand the perceptual and motor mechanisms of adaptation underlying human-robot interaction. Our long-term goal is to develop novel models of adaptation that could be implemented in robots to enhance human-robot collaboration. Realizing adaptive robots would be fundamental not only in the biomedical field for assistance and rehabilitation, but also in industrial settings to improve human-robot cooperation. In the current paper, we present a pilot experiment aimed at exploring perceptual and motor strategies adopted by participants who try to adapt their perception to that of a robot with different prior sensory experience

Determination of the Gelificing Power of Maracuyá Shell Pectin Extracted in a Medium Acid and Its Application in Desserts

Introduction: Agro-industrial wastes contaminate on a large scale and some nutrients of functional importance found in the shells are not used, especially from fruits such as passion fruit (Passifloraedulisvar flavicarpa). Objective: The gelling power of pectin extracted with acid hydrolysis was determined by two treatments from passion fruit peel and pulp and its application in desserts. Methodology: The extraction was carried out from the shell: T1 with hydrochloric acid and T2 with citric acid. Subsequently, the gelling power was measured comparing with commercial pectin and the extracted pectin was applied to make two mousse desserts (0%, 25% and 50%) and jam (0%, 0.5%, 1% pectin) evaluated with acceptability tests applying a hedonic scale test. Results: T2 presents a higher percentage of pectin extraction yield 15.14 ± 1.22 with a (p > 0.05) with respect to T1; likewise, T2 shows greater gelling power with better consistency of the gel formed with 21 g of sugar at 65º Brix compared to commercial pectin with 38º Brix. The jam prepared with 1% extracted pectin showed a score of 7: I like it moderately with a semi‐soft, spreadable texture, a light color, flavor and characteristic aroma of the fruit. The mousse with 50% extracted pectin scored 8: I like it moderately. Conclusion: Pectin is a polysaccharide of industrial and gastronomic interest, it was possible to extract it under controlled conditions of pH, time and temperature by hydrolysis with citric acid with better gelling power than commercial pectin. Keywords: acid hydrolysis, pectin, gelling agent. RESUMEN Introducción: Los desechos agroindustriales contaminan a gran escala y no se aprovechan algunos nutrientes de importancia funcional que se encuentran en las cáscaras, especialmente de frutas como el maracuyá (Passifloraedulisvar flavicarpa). Objetivo: Se determinó el poder gelificante de pectina extraída con hidrólisis ácida por dos tratamientos a partir de cáscara y pulpa del maracuyá y aplicación en postres. Metodología: La extracción se realizó de la cáscara: T1 con ácido clorhídrico y T2 con ácido cítrico. Posteriormente se midió el poder de gelificación comparando con pectina comercial y se aplicó la pectina extraída para elaborar dos postres mousse (0%, 25% y 50%) y mermelada (0%, 0,5 %, 1% de pectina) evaluados con pruebas de aceptabilidad aplicando un test de escala hedónica. Resultados: El T2 presenta mayor porcentaje de rendimiento de extracción de pectina 15,14 ± 1,22 con un (p > 0,05) con respecto a T1; asimismo, T2 muestra mayor poder gelificante con mejor consistencia del gel formado con 21 g de azúcar a 65º Brix comparando con pectina comercial con 38º Brix. La mermelada preparada con 1% de pectina extraída mostró una puntuación de 7: Me gusta moderadamente con textura semiblanda, untable, color tenue sabor y aroma característico de la fruta. El mousse con 50% de pectina extraída obtuvo puntuación de 8: Me gusta moderadamente. Conclusiones: La pectina es un polisacárido de interés industrial y gastronómico se logró extraer en condiciones controladas de pH, tiempo y temperatura por hidrólisis con ácido cítrico con mejor poder gelificante que la pectina comercial. Palabras clave: hidrólisis ácida, pectina, gelificante

Astrocitoma subependimario de células gigantes asociado a complejo de esclerosis tuberosa: recomendaciones para el diagnóstico oportuno y tratamiento

El complejo de esclerosis tuberosa es una enfermedad genética poco frecuente, autosómica dominante con fenotipo y expresión clínica muy variables. Se caracteriza por alteraciones en la migración, diferenciación y proliferación celulares con formación de múltiples tumores benignos llamados hamartomas, las cuales afectan principalmente piel, encéfalo, riñón, ojo, corazón y pulmón. Los astrocitomas subependimarios de células gigantes son tumores benignos de crecimiento lento y son los más frecuentes en el sistema nervioso central de los pacientes con complejo de esclerosis tuberosa. Actualmente existen medicamentos indicados en pacientes con astrocitomas subependimarios de células gigantes asociados con complejo de esclerosis tuberosa y son una alternativa al tratamiento quirúrgico. Su mecanismo consiste en la inhibición el complejo 1 mTOR, acción que modula el defecto molecular que ocasiona al complejo de esclerosis tuberosa. Con su uso se han reportado disminución y estabilización de angiomiolipomas renales, linfangioleiomiomatosis, angiofibromas y de astrocitomas subependimarios de células gigantes asociados con complejo de esclerosis tuberos

A Controllable and Repeatable Method to Study Perceptual and Motor Adaptation in Human-Robot Interaction

Human perception and motion are continuously influenced by prior experience. However, when humans have to share the same space and time, different previous experience could lead towards opposite percepts and actions, consequently failing in coordination. This study presents a novel experimental setup that aims at exploring the interplay between human perceptual mechanisms and motor strategies during human-robot interaction. To achieve this goal, we developed a complex system to enable the realization of an interactive perceptual task, where the participant has to perceive and estimate temporal durations together with iCub, with the goal of coordinating with the robotic partner. Results show that the experimental setup continuously monitor how participants implement their perceptual and motor behavior during the interaction with a controllable interacting agent. Therefore, it will be possible to produce quantitative models describing the interplay between perceptual and motor adaptation during an interaction

A Controllable and Repeatable Method to Study Perceptual and Motor Adaptation in Human-Robot Interaction

<p>Human perception and motion are continuously influenced by prior experience. However, when humans have to share the same space and time, different previous experience could lead towards opposite percepts and actions, consequently failing in coordination. This study presents a novel experimental setup that aims at exploring the interplay between human perceptual mechanisms and motor strategies during human-robot interaction. To achieve this goal, we developed a complex system to enable the realization of an interactive perceptual task, where the participant has to perceive and estimate temporal durations together with iCub, with the goal of coordinating with the robotic partner. Results show that the experimental setup continuously monitor how participants implement their perceptual and motor behavior during the interaction with a controllable interacting agent. Therefore, it will be possible to produce quantitative models describing the interplay between perceptual and motor adaptation during an interaction.</p&gt