Sensory substitution for space gloves and for space robots

Sensory substitution systems for space applications are described. Physical sensors replace missing human receptors and feed information to the interpretive centers of a different sense. The brain is plastic enough so that, with training, the subject localizes the input as if it were received through the missing receptors. Astronauts have difficulty feeling objects through space suit gloves because of their thickness and because of the 4.3 psi pressure difference. Miniature force sensors on the glove palm drive an electrotactile belt around the waist, thus augmenting the missing tactile sensation. A proposed teleoperator system with telepresence for a space robot would incorporate teleproprioception and a force sensor/electrotactile belt sensory substitution system for teletouch

Tactile Language for a Head-Mounted Sensory Augmentation Device

Sensory augmentation is one of the most exciting domains for research in human-machine biohybridicity. The current paper presents the design of a 2nd generation vibrotactile helmet as a sensory augmentation prototype that is being developed to help users to navigate in low visibility environments. The paper outlines a study in which the user navigates along a virtual wall whilst the position and orientation of the user’s head is tracked by a motion capture system. Vibrotactile feedback is presented according to the user’s distance from the virtual wall and their head orientation. The research builds on our previous work by developing a simplified “tactile language” for communicating navigation commands. A key goal is to identify language tokens suitable to a head-mounted tactile interface that are maximally informative, minimize information overload, intuitive, and that have the potential to become ‘experientially transparent

Seeing with sound? Exploring different characteristics of a visual-to-auditory sensory substitution device

Sensory substitution devices convert live visual images into auditory signals, for example with a web camera (to record the images), a computer (to perform the conversion) and headphones (to listen to the sounds). In a series of three experiments, the performance of one such device (‘The vOICe’) was assessed under various conditions on blindfolded sighted participants. The main task that we used involved identifying and locating objects placed on a table by holding a webcam (like a flashlight) or wearing it on the head (like a miner’s light). Identifying objects on a table was easier with a hand-held device, but locating the objects was easier with a head-mounted device. Brightness converted into loudness was less effective than the reverse contrast (dark being loud), suggesting that performance under these conditions (natural indoor lighting, novice users) is related more to the properties of the auditory signal (ie the amount of noise in it) than the cross-modal association between loudness and brightness. Individual differences in musical memory (detecting pitch changes in two sequences of notes) was related to the time taken to identify or recognise objects, but individual differences in self-reported vividness of visual imagery did not reliably predict performance across the experiments. In general, the results suggest that the auditory characteristics of the device may be more important for initial learning than visual associations

How a plantar pressure-based, tongue-placed tactile biofeedback modifies postural control mechanisms during quiet standing

The purpose of the present study was to determine the effects of a plantar pressure-based, tongue-placed tactile biofeedback on postural control mechanisms during quiet standing. To this aim, sixteen young healthy adults were asked to stand as immobile as possible with their eyes closed in two conditions of No-biofeedback and Biofeedback. Centre of foot pressure (CoP) displacements, recorded using a force platform, were used to compute the horizontal displacements of the vertical projection the centre of gravity (CoGh) and those of the difference between the CoP and the vertical projection of the CoG (CoP-CoGv). Altogether, the present findings suggest that the main way the plantar pressure-based, tongue-placed tactile biofeedback improves postural control during quiet standing is via both a reduction of the correction thresholds and an increased efficiency of the corrective mechanism involving the CoGh displacements

A predictive processing theory of sensorimotor contingencies: explaining the puzzle of perceptual presence and its absence in synesthesia

Normal perception involves experiencing objects within perceptual scenes as real, as existing in the world. This property of “perceptual presence” has motivated “sensorimotor theories” which understand perception to involve the mastery of sensorimotor contingencies. However, the mechanistic basis of sensorimotor contingencies and their mastery has remained unclear. Sensorimotor theory also struggles to explain instances of perception, such as synesthesia, that appear to lack perceptual presence and for which relevant sensorimotor contingencies are difficult to identify. On alternative “predictive processing” theories, perceptual content emerges from probabilistic inference on the external causes of sensory signals, however, this view has addressed neither the problem of perceptual presence nor synesthesia. Here, I describe a theory of predictive perception of sensorimotor contingencies which (1) accounts for perceptual presence in normal perception, as well as its absence in synesthesia, and (2) operationalizes the notion of sensorimotor contingencies and their mastery. The core idea is that generative models underlying perception incorporate explicitly counterfactual elements related to how sensory inputs would change on the basis of a broad repertoire of possible actions, even if those actions are not performed. These “counterfactually-rich” generative models encode sensorimotor contingencies related to repertoires of sensorimotor dependencies, with counterfactual richness determining the degree of perceptual presence associated with a stimulus. While the generative models underlying normal perception are typically counterfactually rich (reflecting a large repertoire of possible sensorimotor dependencies), those underlying synesthetic concurrents are hypothesized to be counterfactually poor. In addition to accounting for the phenomenology of synesthesia, the theory naturally accommodates phenomenological differences between a range of experiential states including dreaming, hallucination, and the like. It may also lead to a new view of the (in)determinacy of normal perception

Optics-less smart sensors and a possible mechanism of cutaneous vision in nature

Optics-less cutaneous (skin) vision is not rare among living organisms, though its mechanisms and capabilities have not been thoroughly investigated. This paper demonstrates, using methods from statistical parameter estimation theory and numerical simulations, that an array of bare sensors with a natural cosine-law angular sensitivity arranged on a flat or curved surface has the ability to perform imaging tasks without any optics at all. The working principle of this type of optics-less sensor and the model developed here for determining sensor performance may be used to shed light upon possible mechanisms and capabilities of cutaneous vision in nature

The length-tension diagrams of human oblique muscles in trochlear palsy and strabismus sursoadductorius

We determined the relation between length and tension in detached oblique muscles of 16 strabismus patients that underwent surgery, before and during contraction evoked by intravenous administration of succinylcholine. We frequently found a nonlinear relation between length and tension, unlike our previous findings in recti. In superior oblique palsies, the superior oblique was found, before injection of succinylcholine, to be stiff after elongation, and did not contract after injection of succinylcholine, while the ipsilateral inferior oblique contract after injection of succinylcholine, but with a higher spring constant than did usual. In 3 cases the superior oblique contracted vividly after administration of succinylcholine despite the presence of excyclotropia, stereopsis, torticollis (2 cases) and a hypertropia that increased in adduction, in downgaze, in adduction-and-downgaze and on ipsilateral head-tilt. The finding of a vividly contracting superior oblique is incompatible with the diagnosis of a complete superior oblique palsy. We conclude that some of the cases diagnosed as congenital superior oblique palsy, having a hypertropia increasing in adduction, in downgaze, in adduction-and-downgaze and on ipsilateral head-tilt, are in fact cases of unilateral strabismus sursoadductorius (upshoot in adduction), a non-paretic motility disorder

Quantifying kinematics of purposeful movements to real, imagined, or absent functional objects: Implications for modelling trajectories for robot-assisted ADL tasks**

BACKGROUND: Robotic therapy is at the forefront of stroke rehabilitation. The Activities of Daily Living Exercise Robot (ADLER) was developed to improve carryover of gains after training by combining the benefits of Activities of Daily Living (ADL) training (motivation and functional task practice with real objects), with the benefits of robot mediated therapy (repeatability and reliability). In combining these two therapy techniques, we seek to develop a new model for trajectory generation that will support functional movements to real objects during robot training. We studied natural movements to real objects and report on how initial reaching movements are affected by real objects and how these movements deviate from the straight line paths predicted by the minimum jerk model, typically used to generate trajectories in robot training environments. We highlight key issues that to be considered in modelling natural trajectories. METHODS: Movement data was collected as eight normal subjects completed ADLs such as drinking and eating. Three conditions were considered: object absent, imagined, and present. This data was compared to predicted trajectories generated from implementing the minimum jerk model. The deviations in both the plane of the table (XY) and the saggital plane of torso (XZ) were examined for both reaches to a cup and to a spoon. Velocity profiles and curvature were also quantified for all trajectories. RESULTS: We hypothesized that movements performed with functional task constraints and objects would deviate from the minimum jerk trajectory model more than those performed under imaginary or object absent conditions. Trajectory deviations from the predicted minimum jerk model for these reaches were shown to depend on three variables: object presence, object orientation, and plane of movement. When subjects completed the cup reach their movements were more curved than for the spoon reach. The object present condition for the cup reach showed more curvature than in the object imagined and absent conditions. Curvature in the XZ plane of movement was greater than curvature in the XY plane for all movements. CONCLUSION: The implemented minimum jerk trajectory model was not adequate for generating functional trajectories for these ADLs. The deviations caused by object affordance and functional task constraints must be accounted for in order to allow subjects to perform functional task training in robotic therapy environments. The major differences that we have highlighted include trajectory dependence on: object presence, object orientation, and the plane of movement. With the ability to practice ADLs on the ADLER environment we hope to provide patients with a therapy paradigm that will produce optimal results and recovery

Algunes reflexions entorn de la conceptualització de la infància i adolescència en risc social a l'Estat espanyol

L'article realitza una aproximació a les interpretacions del concepte de risc social de la infancia per part de diversos autors d'àmbit estatal, tenint també en compte els marcs legals català i espanyol. Pretén aclarir quins són els criteris valoratius emprats, tant des de l'àmbit acadèmic com del professional, per interpretar les categoritzacions de la infància i l'adolescència en processos de dificultat i precarietat social. Des d'aquesta perspectiva, s'hi analitza l'estreta relació entre factors de risc, desemparament i marginació. S'hi rebutgen les interpretacions que responsabilitzen el propi menor de la desadaptació, i s'hi defensa la hipótesi de la necessitat d'una intervenció socioeducativa que treballi per una disminució dels factors de risc en el propi medi, mantenint el seu protagonisme en aquest procés.This article is an approach to the different acceptances of the concept social risk as well as the terms neglect and maladjustment, based on the reflections made by different authors and both statal and autonomous legal framework. It intends to clarify which are the criteria of values used in academic and professional ambits in order to understand the categoriesfound in the fields of childhood and adolescence in difficult and precarious conditions. The strong relation between risk factors, neglect and margination has been analysed from this point of view. In the same way the interpretations that hold the minor himself responsible for his maladjustment are rejected and the author defends the necessity of a socio-educational intervention, which reduces the risk factors in the child's environment, and the need of paying close attention to the child's main role in this process.El artículo realiza una aproximación a las interpretaciones del concepto de riesgo social de la infancia por parte de diversos autores de ámbito estatal, teniendo también en cuenta los marcos legales catalán y español. Pretende aclarar cuáles son los criterios valorativos utilizados, tanto desde el ámbito academico como profesional, para interpretar las categorizaciones de la infancia en procesos de dificultad y precariedad. Desde esta perspectiva, se analiza la estrecha relación entre factores de riesgo, desamparamiento y marginación. Se rechazan las interpretaciones que responsabilizan al propio menor de la desadaptación y se defiende la hipótesis de la necesidad de una intervención socioeducativa que trabaje para una disminución de los factores de riesgo en el propio medio, manteniendo su protagonismo en este proceso