233 research outputs found
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Comparing clothing-mounted sensors with wearable sensors for movement analysis and activity classification
Inertial sensors are a useful instrument for long term monitoring in healthcare. In many cases, inertial sensor devices can be worn as an accessory or integrated into smart textiles. In some situations, it may be beneficial to have data from multiple inertial sensors, rather than relying on a single worn sensor, since this may increase the accuracy of the analysis and better tolerate sensor errors. Integrating multiple sensors into clothing improves the feasibility and practicality of wearing multiple devices every day, in approximately the same location, with less likelihood of incorrect sensor orientation. To facilitate this, the current work investigates the consequences of attaching lightweight sensors to loose clothes. The intention of this paper is to discuss how data from these clothing sensors compare with similarly placed body worn sensors, with additional consideration of the resulting effects on activity recognition. This study compares the similarity between the two signals (body worn and clothing), collected from three different clothing types (slacks, pencil skirt and loose frock), across multiple daily activities (walking, running, sitting, and riding a bus) by calculating correlation coefficients for each sensor pair. Even though the two data streams are clearly different from each other, the results indicate that there is good potential of achieving high classification accuracy when using inertial sensors in clothing
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The family drug & alcohol court (FDAC) evaluation project
This report presents the findings from the evaluation of the first pilot Family Drug and Alcohol Court (FDAC) in Britain. FDAC is a new approach to care proceedings, in cases where parental substance misuse is a key element in the local authority decision to bring proceedings. It is being piloted at the Inner London Family Proceedings Court in Wells Street. Initially the pilot was to run for three years, to the end of December 2010, but is now to continue until March 2012. The work is co-funded by the Department for Education (formerly the Department for Children, Schools and Families), the Ministry of Justice, the Home Office, the Department of Health and the three pilot authorities (Camden, Islington and Westminster). The evaluation was conducted by a research team at Brunel University, with funding from the Nuffield Foundation and the Home Office. FDAC is a specialist court for a problem that is anything but special. Its potential to help break the inter-generational cycle of harm associated with parental substance misuse goes straight to the heart of public policy and professional practice. Parental substance misuse is a formidable social problem and a key factor in around a third of long-term cases in children’s services in some areas. It is a major risk factor for child maltreatment, family separation and offending in adults, and for poor educational performance and substance misuse by children and young people. The parents’ many difficulties create serious problems for their children and place major demands on health, welfare and criminal justice services. For these reasons, parental substance misuse is a cross-cutting government agenda. FDAC is distinctive because it is a court-based family intervention which aims to improve children’s outcomes by addressing the entrenched difficulties of their parents. It has been adapted to English law and practice from a model of family treatment drug courts that is used widely in the USA and is showing promising results with a higher number of cases where parents and children were able to remain together safely, and with swifter alternative placement decisions for children if parents were unable to address their substance misuse successfully. The catalysts for the FDAC pilot were the encouraging evidence from the USA and concerns about the response to parental substance misuse through ordinary care proceedings in England: poor coordination of adult and children’s services; late interventions to protect children; delays in reaching decisions in court; and soaring costs of proceedings, linked to the cost of expert evidence.The work is co-funded by the Department for Education (formerly the Department for Children, Schools and Families), the Ministry of Justice, the Home Office, the Department of Health and the three pilot authorities (Camden, Islington and Westminster).1 The evaluation was conducted by a research team at Brunel University, with funding from the Nuffield Foundation and the Home Office
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Modelling of surface identifying characteristics using Fourier series
Texture and small-scale surface details are widely recognised as playing an important role in the haptic identification of objects. In order to simulate realistic textures in haptic virtual environments, it has become increasingly necessary to identify a robust technique for modelling of surface profiles. This paper describes a method whereby Fourier series spectral analysis is employed in order to describe the measured surface profiles of several characteristic surfaces. The results presented suggest that a bandlimited Fourier series can be used to provide a realistic approximation to surface amplitude profiles
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Current over-stressing small DC motors to evaluate performance limits of electromechanical actuators for haptic applications
Actuators for haptic devices tend to have a different set of requirements in comparison to many other engineering applications. Small permanent magnet DC electric motors are commonly used as actuators in haptic devices and, in operation, tend to spend a significant period of time in a `stalled' condition where they are attempting to oppose an applied force. Ideally a haptic actuator together with its power amplifier exchange energy reversibly with the mechanical loads. However this is not feasible at room temperature and to achieve good force performance results in energy loss as heat in the motor windings. This paper identifies the relationship between heat loss and force generation in haptic electromagnetic actuators. The work then presents results on current over-stressing of small DC motors so as to understand the risks of demagnetisation against thermal damage to the armature. Results indicate that it should be possible to apply short current over-stresses to commercial DC permanent magnet motors to increase end point force. Also by paying careful attention to heat dissipation in the design of small permanent magnet actuators motors, it should be possible to improve the overall performance of actuators for haptic applications
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The effect of the GENTLE/s robot-mediated therapy system on arm function after stroke
Objective: To evaluate the effect of robot-mediated therapy on arm dysfunction post stroke. Design: A series of single-case studies using a randomized multiple baseline design with ABC or ACB order. Subjects (n = 20) had a baseline length of 8, 9 or 10 data points. They continued measurement during the B - robot-mediated therapy and C - sling suspension phases. Setting: Physiotherapy department, teaching hospital. Subjects: Twenty subjects with varying degrees of motor and sensory deficit completed the study. Subjects attended three times a week, with each phase lasting three weeks. Interventions: In the robot-mediated therapy phase they practised three functional exercises with haptic and visual feedback from the system. In the sling suspension phase they practised three single-plane exercises. Each treatment phase was three weeks long. Main measures: The range of active shoulder flexion, the Fugl-Meyer motor assessment and the Motor Assessment Scale were measured at each visit. Results: Each subject had a varied response to the measurement and intervention phases. The rate of recovery was greater during the robot-mediated therapy phase than in the baseline phase for the majority of subjects. The rate of recovery during the robot-mediated therapy phase was also greater than that during the sling suspension phase for most subjects. Conclusion: The positive treatment effect for both groups suggests that robot-mediated therapy can have a treatment effect greater than the same duration of non-functional exercises. Further studies investigating the optimal duration of treatment in the form of a randomized controlled trial are warranted
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A smoothed particle hydrodynamics algorithm for haptic rendering of dental filling materials
Using haptic interfaces to assist the training of skills within the curriculum of undergraduate dentists provides a unique opportunity to advance rendering algorithms and engineering of haptic devices. In this paper we use the dental context to explore a rendering technique called smoothed particle hydrodynamics (SPH) as a potential method to train students on appropriate techniques for insertion of filling material into a previously prepared (virtual) dental cavity. The paper also considers how problems of haptic rendering might be implemented on a Graphical Processing Unit (GPU) that operates in the haptics control loop. The filling simulation used 3000 particles to represent the cavity boundary (approx. 1400 particles), tool (approx. 42 particles) and filling material (approx. 1600 particles), running at an average of 447Hz. Novel smoothing function in SPH was developed and its flexibility is presented
Pirolisis Campuran Sampah Plastik Polistirena Dengan Sampah Plastik Berlapisan Aluminium Foil (Multilayer)
Sampah plastik yang dulunya merupakan masalah lingkungan, saat ini dapat diubah menjadi bahan bakar alternatif dengan menggunakan proses daur ulang yang memanfaatkan energi panas yaitu pirolisis. Analisis yang digunakan dalam penelitian ini adalah analisis terhadap minyak (liquid) yang dihasilkan dari pirolisis sampah plastik Polistitren (PS), plastik berlapisan aluminium foil (kemasan/ multilayer) (AL) dan campuran plastik tersebut. Penelitian ini dilakukan untuk mendapatkan kuantitas produk dan senyawa kimia yang dihasilkan dari pirolisis sampah plastic PS, kemasan dan campuran keduanya. Penelitian dilakukan dengan menempatkan 50 gram PS (PS), 50 gram plastik berlapisan aluminium foil (AL) (multi layer),dan PS dengan campuran 10%, 20%, 30%, 40% AL didalam reaktor pirolisis yang terbuat dari stainless steel berbentuk silinder dengan volume 0,96 m3 dengan temperatur akhir 450oC. hasil penelitian menunjukkan bahwa semakin banyak penambahan Plastik berlapisan aluminium foil maka semakin cepat naiknya temperatur mencapai titik optimum yang ditetapkan (450oC). Sedangkan senyawa kimia yang dihasilkan pada pirolisis yang mengandung PS sebagian besar berupa senyawa aromatic, sedangkan pada pirolisis AL sebagian besar berupa senyawa olefin
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Modelling the air-gap field strength of electric machines to improve performance of haptic mechanisms
The air-gap of electro-magnetic (EM) actuators determines key operating parameters such as their ability to generate force. In haptic devices these parameters are not optimised for the conditions typically seen in operation and include the heat produced in the air-gap, the volume of the air-gap, and the intensity and direction of the magnetic field. The relationship between these parameters is complex thus design decisions are difficult to make. This paper considers the role of the radial magnetic field in cylindrical electric motors, a type often used in haptic devices. Two models are derived and compared with experimental measurements. The first model is a closed form solution, the second is a classic Poisson solution to Ampere's equation. These models are shown to be valid for making more general design decisions in relation to haptic actuators, and in particular allow an evaluation of the trade off between the volume of the air-gap, the resulting radial magnetic field and hence heat generated and the resulting forces
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Development of a wearable assistive soft robotic device for elbow rehabilitation
The loss of motor function at the elbow joint can
result as a consequence of stroke. Stroke is a clinical illness resulting in long lasting neurological deficits often affecting somatosensory and motor cortices. More than half of those that recover from a stroke survive with disability in their upper arm and need rehabilitation therapy to help in regaining functions
of daily living. In this paper, we demonstrated a prototype of a low-cost, ultra-light and wearable soft robotic assistive device that could aid administration of elbow motion therapies to stroke patients. In order to assist the rotation of the elbow joint, the soft modules which consist of soft wedge-like cellular units was inflated by air to produce torque at the elbow joint.
Highly compliant rotation can be naturally realised by the elastic property of soft silicone and pneumatic control of air. Based on the direct visual-actuation control, a higher control loop utilised visual processing to apply positional control, the lower control loop was implemented by an electronic circuit to achieve the desired pressure of the soft modules by Pulse Width
Modulation. To examine the functionality of the proposed soft modular system, we used an anatomical model of the upper limb and performed the experiments with healthy participants
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