An open-source robotic tool for the simulation of quasi-static finger pressing on stationary and vibrating surfaces

The Bogus Finger is a remote-controllable tool for simulating vertical pressing forces of various magnitude as exerted by a human finger. Its main application is the characterization of haptic devices under realistic active touch conditions. The device is released as an open-source hardware and software DIY project that can be easily built using off-the-shelf components. We report the characterization of the quasi-static properties of the device, and validate its dynamic response to pressing on a vibrating surface by comparison with human fingers. The present prototype configuration accurately reproduces the mechanical impedance of the human finger in the frequency range 200-400 Hz

Tactile discrimination of material properties: application to virtual buttons for professional appliances

An experiment is described that tested the possibility to classify wooden, plastic, and metallic objects based on reproduced auditory and vibrotactile stimuli. The results show that recognition rates are considerably above chance level with either unimodal auditory or vibrotactile feedback. Supported by those findings, the possibility to render virtual buttons for professional appliances with different tactile properties was tested. To this end, a touchscreen device was provided with various types of vibrotactile feedback in response to the sensed pressing force and location of a finger. Different virtual buttons designs were tested by user panels who performed a subjective evaluation on perceived tactile properties and materials. In a first implementation, virtual buttons were designed reproducing the vibration recordings of real materials used in the classification experiment: mainly due to hardware limitations of our prototype and the consequent impossibility to render complex vibratory signals, this approach did not prove successful. A second implementation was then optimized for the device capabilities, moreover introducing surface compliance effects and button release cues: the new design led to generally high quality ratings, clear discrimination of different buttons and unambiguous material classification. The lesson learned was that various material and physical properties of virtual buttons can be successfully rendered by characteristic frequency and decay cues if correctly reproduced by the device

Does It Ping or Pong? Auditory and Tactile Classification of Materials by Bouncing Events

Two experiments studied the role of impact sounds and vibrations in classification of materials. The task consisted of feeling on an actuated surface and listening through headphones to the recorded feedback of a ping-pong ball hitting three flat objects respectively made of wood, plastic, and metal, and then identifying their material. In Experiment 1, sounds and vibrations were recorded by keeping the objects in mechanical isolation. In Experiment 2, recordings were taken while the same objects stood on a table, causing their resonances to fade faster due to mechanical coupling with the support. A control experiment, where participants listened to and touched the real objects in mechanical isolation, showed high accuracy of classification from either sounds (90% correct) or vibrations (67% correct). Classification of reproduced bounces in Experiments 1 and 2 was less precise. In both experiments, the main effect of material was statistically significant; conversely, the main effect of modality (auditory or tactile) was significant only in the control. Identification of plastic and especially metal was less accurate in Experiment 2, suggesting that participants, when possible, classified materials by longer resonance tails. Audio-tactile summation of classification accuracy was found, suggesting that multisensory integration influences the perception of materials. Such results have prospective application to the nonvisual design of virtual buttons, which is the object of our current research

Toward the manipulation of time and space in extended reality: a preliminary study on multimodal Tau and Kappa illusions in the visual-tactile domain

In the last few years, Extended reality (XR) has enabled novel forms of sensory experiences and social interplay, which can be hardly experienced in real life. However, the full potential of XR has not been exploited yet, since vision remains the main interaction modality, and the time-and space-modulation of the sense of self-which could open interesting perspectives in several scenarios-is still largely unexplored. To pave the path to a multi-modal manipulation of the sense of time and space in immersive XR, in this work we discuss the preliminary outcomes of the first investigation in the visual-tactile domain of two well known perceptual illusions affecting spatial and temporal perception, i.e. Tau and Kappa effects, respectively. We compared the effects originated from unimodal stimulation (i.e., only visual or tactile) with the same effects induced by convergent bimodal stimulation (i.e., visual and tactile), delivered to the forearm. Results show that both Tau and Kappa effects are affected by the multi-modality of the stimulation, and that the perceptual bias differently affects time-or space-perception based on the modality used for stimulus delivery. Our results, although preliminary, seem to suggest that multimodal perceptual illusions could be a viable solution for time-and space-modulation of the sense of self in immersive XR and advanced social human-robot interaction

Extremal flows in Wasserstein space

We develop an intrinsic geometric approach to the calculus of variations in theWasserstein space. We show that the flows associated with the Schr\ua8odinger bridge with general prior, with optimal mass transport, and with the Madelung fluid can all be characterized as annihilating the first variation of a suitable action. We then discuss the implications of this unified framework for stochastic mechanics: It entails, in particular, a sort of fluid-dynamic reconciliation between Bohm\u2019s and Nelson\u2019s stochastic mechanics

Binding between Crossveinless-2 and Chordin Von Willebrand Factor Type C Domains Promotes BMP Signaling by Blocking Chordin Activity

BACKGROUND: Crossveinless-2 (CV2) is an extracellular BMP modulator protein of the Chordin family, which can either enhance or inhibit BMP activity. CV2 binds to BMP2 via subdomain 1 of the first of its five N-terminal von Willebrand factor type C domains (VWC1). Previous studies showed that this BMP binding is required for the anti-, but not for the pro-BMP effect of CV2. More recently, it was shown that CV2 can also bind to the BMP inhibitor Chordin. However, it remained unclear which domains mediate this binding, and whether it accounts for an anti- or pro-BMP effect. PRINCIPAL FINDINGS: Here we report that a composite interface of CV2 consisting of subdomain 2 of VWC1 and of VWC2-4, which are dispensable for BMP binding, binds to the VWC2 domain of Chordin. Functional data obtained in zebrafish embryos indicate that this binding of Chordin is required for CV2's pro-BMP effect, which actually is an anti-Chordin effect and, at least to a large extent, independent of Tolloid-mediated Chordin degradation. We further demonstrate that CV2 mutant versions that per se are incapable of BMP binding can attenuate the Chordin/BMP interaction. CONCLUSIONS: We have physically dissected the anti- and pro-BMP effects of CV2. Its anti-BMP effect is obtained by binding to BMP via subdomain1 of the VWC1 domain, a binding that occurs in competition with Chordin. In contrast, its pro-BMP effect is achieved by direct binding to Chordin via subdomain 2 of VWC1 and VWC2-4. This binding seems to induce conformational changes within the Chordin protein that weaken Chordin's affinity to BMP. We propose that in ternary Chordin-CV2-BMP complexes, both BMP and Chordin are directly associated with CV2, whereas Chordin is pushed away from BMP, ensuring that BMPs can be more easily delivered to their receptors

Complex Transition to Cooperative Behavior in a Structured Population Model

Cooperation plays an important role in the evolution of species and human societies. The understanding of the emergence and persistence of cooperation in those systems is a fascinating and fundamental question. Many mechanisms were extensively studied and proposed as supporting cooperation. The current work addresses the role of migration for the maintenance of cooperation in structured populations. This problem is investigated in an evolutionary perspective through the prisoner's dilemma game paradigm. It is found that migration and structure play an essential role in the evolution of the cooperative behavior. The possible outcomes of the model are extinction of the entire population, dominance of the cooperative strategy and coexistence between cooperators and defectors. The coexistence phase is obtained in the range of large migration rates. It is also verified the existence of a critical level of structuring beyond that cooperation is always likely. In resume, we conclude that the increase in the number of demes as well as in the migration rate favor the fixation of the cooperative behavior

The BMP Antagonist Follistatin-Like 1 Is Required for Skeletal and Lung Organogenesis

Follistatin-like 1 (Fstl1) is a secreted protein of the BMP inhibitor class. During development, expression of Fstl1 is already found in cleavage stage embryos and becomes gradually restricted to mesenchymal elements of most organs during subsequent development. Knock down experiments in chicken and zebrafish demonstrated a role as a BMP antagonist in early development. To investigate the role of Fstl1 during mouse development, a conditional Fstl1 KO allele as well as a Fstl1-GFP reporter mouse were created. KO mice die at birth from respiratory distress and show multiple defects in lung development. Also, skeletal development is affected. Endochondral bone development, limb patterning as well as patterning of the axial skeleton are perturbed in the absence of Fstl1. Taken together, these observations show that Fstl1 is a crucial regulator in BMP signalling during mouse development