Assessment of intuitiveness and comfort of wearable haptic feedback strategies for assisting level and stair walking

Nowadays, lower-limb prostheses are reaching real-world usability especially on ground-level walking. However, some key tasks such as stair walking are still quite demanding. Providing haptic feedback about the foot placement on the steps might reduce the cognitive load of the task, compensating for increased dependency on vision and lessen the risk of falling. Experiments on intact subjects can be useful to define the feedback strategies prior to clinical trials, but effective methods to assess the efficacy of the strategies are few and usually rely on the emulation of the disability condition. The present study reports on the design and testing of a wearable haptic feedback system in a protocol involving intact subjects to assess candidate strategies to be adopted in clinical trials. The system integrated a sensorized insole wirelessly connected to a textile waist belt equipped with three vibrating motors. Three stimulation strategies for mapping the insole pressure data to vibrotactile feedback were implemented and compared in terms of intuitiveness and comfort perceived during level and stair walking. The strategies were ranked using a relative rating approach, which highlighted the differences between them and suggested guidelines for their improvement. The feedback evaluation procedure proposed could facilitate the selection and improvement of haptic feedback strategies prior to clinical testing

A Multimodal Sensory Apparatus for Robotic Prosthetic Feet Combining Optoelectronic Pressure Transducers and IMU

Timely and reliable identification of control phases is functional to the control of a powered robotic lower-limb prosthesis. This study presents a commercial energy-store-and-release foot prosthesis instrumented with a multimodal sensory system comprising optoelectronic pressure sensors (PS) and IMU. The performance was verified with eight healthy participants, comparing signals processed by two different algorithms, based on PS and IMU, respectively, for real-time detection of heel strike (HS) and toe-off (TO) events and an estimate of relevant biomechanical variables such as vertical ground reaction force (vGRF) and center of pressure along the sagittal axis (CoPy). The performance of both algorithms was benchmarked against a force platform and a marker-based stereophotogrammetric motion capture system. HS and TO were estimated with a time error lower than 0.100 s for both the algorithms, sufficient for the control of a lower-limb robotic prosthesis. Finally, the CoPy computed from the PS showed a Pearson correlation coefficient of 0.97 (0.02) with the same variable computed through the force platform

Galileo, the European GNSS program, and LAGEOS

With the ASI-INFN project “ETRUSCO-2 (Extra Terrestrial Ranging to Unified Satellite COnstellations-2)” we have the opportunity to continue and enhance the work already done with the former ETRUSCO INFN experiment. With ETRUSCO (2005-2010) the SCF LAB (Satellite/lunar laser ranging Characterization Facility LABoratory) team developed a new industry-standard test for laser retroreflectors characterization (the SCF-Test). This test is an integrated and concurrent thermal and optical measurement in accurately laboratory-simulated space environment. In the same period we had the opportunity to test several flight models of retroreflectors from NASA, ESA and ASI. Doing this we examined the detailed thermal behavior and the optical performance of LAGEOS (Laser GEOdynamics Satellites) cube corner retroreflectors and many others being used on the Global Navigation Satellite System (GNSS) constellations currently in orbit, mainly GPS, GLONASS and GIOVE-A/GIOVE-B (Galileo In Orbit Validation Element) satellites, which deploy old-generation aluminium back-coated reflectors; we also SCFTested for ESA prototype new-generation uncoated reflectors for the Galileo IOV (In-Orbit Validation) satellites, which is the most important result presented here. ETRUSCO-2 inherits all this work and a new lab with doubled instrumentation (cryostat, sun simulator, optical bench) inside a new, dedicated 85m2 class 10000 (or better) clean room. This new project aims at a new revision of the SCF-Test expressly conceived to dynamically simulate the actual GNSS typical orbital environment, a new, reliable Key Performance Indicator for the future GNSS retroreflectors payload. Following up on this and using LAGEOS as a reference standard target in terms of optical performances, the SCF LAB research team led by S. Dell’Agnello is designing, building and testing a new generation of GNSS retroreflectors array (GRA) for the new European GNSS constellation Galileo

LARES/WEBER-SAT and the equivalence principle

It has often been claimed that the proposed Earth artificial satellite LARES/WEBER-SAT-whose primary goal is, in fact, the measurement of the general relativistic Lense-Thirring effect at a some percent level-would allow to greatly improve, among (many) other things, the present-day (10^-13) level of accuracy in testing the equivalence principle as well. Recent claims point towards even two orders of magnitude better, i.e. 10^-15. In this note we show that such a goal is, in fact, unattainable by many orders of magnitude being, instead, the achievable level of the order of 10^-9.Comment: LaTex, 4 pages, no figures, no tables, 26 references. Proofs corrections included. To appear in EPL (Europhysics Letters

Charged kaon lifetime at KLOE

Preliminary result on the charged kaon lifetime, obtained by the KLOE experiment operating at DA$\Phi$NE, the Frascati $\phi$-factory, is presentedComment: 3 pages, 3 figures, to appear in the proceedings of 42nd Rencontres de Moriond on Electroweak Interactions and Unified Theories, La Thuile, Aosta Valley, Italy, 10-17 Mar 200

Determination of CP and CPT violation parameters in the neutral kaon system using the Bell-Steinberger relation and data from the KLOE experiment

We present an improved determination of the CP and CPT violation parameters Re(epsilon) and Im(delta) based on the unitarity condition (Bell-Steinberger relation) and on recent results from the KLOE experiment. We find Re(epsilon) = (159.6 \pm 1.3)10^-5 and Im(delta) = (0.4 \pm 2.1)10^-5, consistent with no CPT violation.Comment: Submitted to JHE

MOONLIGHT: A NEW LUNAR LASER RANGING RETROREFLECTOR AND THE LUNAR GEODETIC PRECESSION

Since the 1970s Lunar Laser Ranging (LLR) to the Apollo Cube Corner Retroreflector (CCR) arrays (developed by the University of Maryland, UMD) supplied almost all significant tests of General Relativity (Alley et al., 1970; Chang et al., 1971; Bender et al.,1973): possible changes in the gravitational constant, gravitational self-energy, weak equivalence principle, geodetic precession, inverse-square force-law. The LNF group, in fact, has just completed a new measurement of the lunar geodetic precession with Apollo array, with accuracy of 9 × 10−3, comparable to the best measurement to date. LLR has also provided significant information on the composition and origin of the moon. This is the only Apollo experiment still in operation. In the 1970s Apollo LLR arrays contributed a negligible fraction of the ranging error budget. Since the ranging capabilities of ground stations improved by more than two orders of magnitude, now, because of the lunar librations, Apollo CCR arrays dominate the error budget. With the project MoonLIGHT (Moon Laser Instrumentation for General relativity High-accuracy Tests), in 2006 INFN-LNF joined UMD in the development and test of a new-generation LLR payload made by a single, large CCR (100mm diameter) unaffected by the effect of librations. With MoonLIGHT CCRs the accuracy of the measurement of the lunar geodetic precession can be improved up to a factor 100 compared to Apollo arrays. From a technological point of view, INFN-LNF built and is operating a new experimental apparatus (Satellite/lunar laser ranging Characterization Facility, SCF) and created a new industry-standard test procedure (SCF-Test) to characterize and model the detailed thermal behavior and the optical performance of CCRs in accurately laboratory-simulated space conditions, for industrial and scientific applications. Our key experimental innovation is the concurrent measurement and modeling of the optical Far Field Diffraction Pattern (FFDP) and the temperature distribution of retroreflector payloads under thermal conditions produced with a close-match solar simulator. The apparatus includes infrared cameras for non-invasive thermometry, thermal control and real-time payload movement to simulate satellite orientation on orbit with respect to solar illumination and laser interrogation beams. These capabilities provide: unique pre-launch performance validation of the space segment of LLR/SLR (Satellite Laser Ranging); retroreflector design optimization to maximize ranging efficiency and signal-to-noise conditions in daylight. Results of the SCF-Test of our CCR payload will be presented. Negotiations are underway to propose our payload and SCF-Test services for precision gravity and lunar science measurements with next robotic lunar landing missions. In particular, a scientific collaboration agreement was signed on Jan. 30, 2012, by D. Currie, S. Dell'Agnello and the Japanese PI team of the LLR instrument of the proposed SELENE-2 mission by JAXA (Registered with INFN Protocol n. 0000242-03/Feb/2012). The agreement foresees that, under no exchange of funds, the Japanese single, large, hollow LLR reflector will be SCF-Tested and that MoonLIGHT will be considered as backup instrument

A direct search for the CP-violating decay Ks->3p^0 with the KLOE detector at DAFNE

We have searched for the decay Ks->3p^0 with the KLOE experiment at DAFNE using data from e^+ e^- collisions at a center of mass energy W= m(phi) for an integrated luminosity L=450 pb^-1. The search has been performed with a pure Ks beam obtained by tagging with Kl interactions in the calorimeter and detecting six photons. We find an upper limit for the branching ratio of 1.2x10^-7 at 90% C.L.Comment: 15 pages, 6 figures. To be submitted to Physics Letter

Measurements of the Absolute Branching Ratios for the Dominant KL Decays, the KL Lifetime, and Vus with the KLOE Detector

From a sample of about 10^9 Phi mesons produced at DAFNE, we have selected KL mesons tagged by observing KS->pi+pi- decays. We present results on the major KL branching ratios, including those of the semileptonic decays needed for the determination of Vus. These branching ratio measurements are fully inclusive with respect to final-state radiation. The KL lifetime has also been measured.Comment: Submitted to Phys. Lett.