scholarly journals Trends in Haptic Communication of Human-Human Dyads: Toward Natural Human-Robot Co-manipulation

2021 ◽  
Vol 15 ◽  
Author(s):  
Spencer W. Jensen ◽  
John L. Salmon ◽  
Marc D. Killpack
Keyword(s):  
Detailed Analysis ◽  
Communication Channel ◽  
Haptic Feedback ◽  
Interaction Forces ◽  
Interaction Torque ◽  
Oscillatory Component ◽  
Extended Object ◽  
Haptic Communication ◽  
Significant Length

In this paper, we analyze and report on observable trends in human-human dyads performing collaborative manipulation (co-manipulation) tasks with an extended object (object with significant length). We present a detailed analysis relating trends in interaction forces and torques with other metrics and propose that these trends could provide a way of improving communication and efficiency for human-robot dyads. We find that the motion of the co-manipulated object has a measurable oscillatory component. We confirm that haptic feedback alone represents a sufficient communication channel for co-manipulation tasks, however we find that the loss of visual and auditory channels has a significant effect on interaction torque and velocity. The main objective of this paper is to lay the essential groundwork in defining principles of co-manipulation between human dyads. We propose that these principles could enable effective and intuitive human-robot collaborative manipulation in future co-manipulation research.

scholarly journals Pseudo-haptic feedback in medical teleoperation

2015 ◽  
Vol 1 (1) ◽  
pp. 160-163 ◽  
Author(s):  
Carsten Neupert ◽  
Sebastian Matich ◽  
Peter P. Pott ◽  
Christian Hatzfeld ◽  
Roland Werthschützky
Keyword(s):  
User Interface ◽  
Visual Perception ◽  
Virtual Environments ◽  
Mechanical Characteristic ◽  
Haptic Feedback ◽  
Surgical Robot ◽  
Interaction Forces ◽  
End Effector ◽  
Grasping Force ◽  
Coupling Characteristic

AbstractPseudo-haptic feedback is a haptic illusion based on a mismatch of haptic and visual perception. It is well known from applications in virtual environments. In this work, we discuss the usabiliy of the principle of pseudo-haptic feedback for teleoperation. Using pseudo-haptic feedback can ease the design of haptic medical tele-operation systems.Thereby a user’s grasping force at an isometric user interface is used to control the closing angle of an end effector of a surgical robot. To provide a realistic haptic feedback, the coupling characteristic of grasping force and end effector closing angle is changed depending on acting end effector interaction forces.With an experiment, we show the usability of pseudo-haptic feedback for discriminating compliances, comparable to the mechanical characteristic of muscles relaxed and contracted. The provided results base upon the data of 10 subjects, and 300 trails.

scholarly journals Pruss, Motivational Centrality, and Probabilities Attached to Possibility Premises in Modal Ontological Arguments

2012 ◽  
Vol 4 (2) ◽  
pp. 65-85
Author(s):  
Graham Oppy
Keyword(s):  
Detailed Analysis ◽  
Recent Literature ◽  
Significant Length ◽  
Theistic Belief

Pruss (2010) argues that consideration of the motivational centrality of Theistic belief in flourishing and intellectually sophisticated lives of significant length provides reason for thinking that Theistic belief is at least possibly true. But Theistic belief is belief in a necessarily existent God. So, according to Pruss, consideration of the motivational centrality of Theistic belief in flourishing and intellectually sophisticated lives of significant length provides reason for thinking that there is a necessarily existent God. Pruss’s gambit is the most interesting original move in the recent literature on modal ontological arguments and, on that account, deserves detailed analysis. In this paper, I aim to provide just such an analysis. Perhaps unsurprisingly, I argue for the conclusion that Pruss’s gambit should be declined.

scholarly journals Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication

2021 ◽  
Vol 8 ◽  
Author(s):  
Mengnan Wu ◽  
Luke Drnach ◽  
Sistania M. Bong ◽  
Yun Seong Song ◽  
Lena H. Ting
Keyword(s):  
Frontal Plane ◽  
Human Movement ◽  
Force Sensor ◽  
Human Hand ◽  
Physical Interaction ◽  
Balance Performance ◽  
Overground Walking ◽  
Interaction Torque ◽  
Haptic Communication ◽  
Walking Balance

Principles from human-human physical interaction may be necessary to design more intuitive and seamless robotic devices to aid human movement. Previous studies have shown that light touch can aid balance and that haptic communication can improve performance of physical tasks, but the effects of touch between two humans on walking balance has not been previously characterized. This study examines physical interaction between two persons when one person aids another in performing a beam-walking task. 12 pairs of healthy young adults held a force sensor with one hand while one person walked on a narrow balance beam (2 cm wide x 3.7 m long) and the other person walked overground by their side. We compare balance performance during partnered vs. solo beam-walking to examine the effects of haptic interaction, and we compare hand interaction mechanics during partnered beam-walking vs. overground walking to examine how the interaction aided balance. While holding the hand of a partner, participants were able to walk further on the beam without falling, reduce lateral sway, and decrease angular momentum in the frontal plane. We measured small hand force magnitudes (mean of 2.2 N laterally and 3.4 N vertically) that created opposing torque components about the beam axis and calculated the interaction torque, the overlapping opposing torque that does not contribute to motion of the beam-walker’s body. We found higher interaction torque magnitudes during partnered beam-walking vs. partnered overground walking, and correlation between interaction torque magnitude and reductions in lateral sway. To gain insight into feasible controller designs to emulate human-human physical interactions for aiding walking balance, we modeled the relationship between each torque component and motion of the beam-walker’s body as a mass-spring-damper system. Our model results show opposite types of mechanical elements (active vs. passive) for the two torque components. Our results demonstrate that hand interactions aid balance during partnered beam-walking by creating opposing torques that primarily serve haptic communication, and our model of the torques suggest control parameters for implementing human-human balance aid in human-robot interactions.

Ultimate resolution and information in electron microscopy

1991 ◽  
Vol 49 ◽  
pp. 496-497
Author(s):  
D. Van Dyck
Keyword(s):  
Electron Microscopy ◽  
Electron Microscope ◽  
Transfer Function ◽  
Information Transfer ◽  
Communication Channel ◽  
Structural Information ◽  
Information Rate ◽  
Noise Power ◽  
Signal Power ◽  
Imaging Device

An (electron) microscope can be considered as a communication channel that transfers structural information between an object and an observer. In electron microscopy this information is carried by electrons. According to the theory of Shannon the maximal information rate (or capacity) of a communication channel is given by C = B log2 (1 + S/N) bits/sec., where B is the band width, and S and N the average signal power, respectively noise power at the output. We will now apply to study the information transfer in an electron microscope. For simplicity we will assume the object and the image to be onedimensional (the results can straightforwardly be generalized). An imaging device can be characterized by its transfer function, which describes the magnitude with which a spatial frequency g is transferred through the device, n is the noise. Usually, the resolution of the instrument ᑭ is defined from the cut-off 1/ᑭ beyond which no spadal information is transferred.

Prosodic Impairment Associated With Traumatic Brain Injury

2009 ◽  
Vol 19 (3) ◽  
pp. 97-102
Author(s):  
Billy Irwin
Keyword(s):  
Traumatic Brain Injury ◽  
Brain Injury ◽  
Detailed Analysis ◽  
Acoustic Characteristics ◽  
Individual Variations

Abstract Purpose: This article discusses impaired prosody production subsequent to traumatic brain injury (TBI). Prosody may affect naturalness and intelligibility of speech significantly, often for the long term, and TBI may result in a variety of impairments. Method: Intonation, rate, and stress production are discussed in terms of the perceptual, physiological, and acoustic characteristics associated with TBI. Results and Conclusions: All aspects of prosodic production are susceptible to the effects of damage resulting from TBI. There are commonly associated prosodic impairments; however, individual variations in specific aspects of prosody require detailed analysis.

Method for measuring distortions of a speech signal during its transmission over a communication channel to a biometric identification system

2020 ◽  
pp. 65-72
Author(s):  
V. V. Savchenko ◽  
A. V. Savchenko
Keyword(s):  
Speech Signal ◽  
Communication Channel ◽  
Speaker Identification ◽  
A Priori ◽  
Small Samples ◽  
Practical Implementation ◽  
Identification System ◽  
New Information ◽  
Discrimination Criterion ◽  
A Priori Uncertainty

This paper is devoted to the presence of distortions in a speech signal transmitted over a communication channel to a biometric system during voice-based remote identification. We propose to preliminary correct the frequency spectrum of the received signal based on the pre-distortion principle. Taking into account a priori uncertainty, a new information indicator of speech signal distortions and a method for measuring it in conditions of small samples of observations are proposed. An example of fast practical implementation of the method based on a parametric spectral analysis algorithm is considered. Experimental results of our approach are provided for three different versions of communication channel. It is shown that the usage of the proposed method makes it possible to transform the initially distorted speech signal into compliance on the registered voice template by using acceptable information discrimination criterion. It is demonstrated that our approach may be used in existing biometric systems and technologies of speaker identification.

Assessment of the state and level of development of public-private partnership projects in the subjects of the Russian Federation

2018 ◽  
pp. 131-141 ◽  
Author(s):  
A. N. Savrukov ◽  
N. T. Savrukov ◽  
E. A. Kozlovskaya
Keyword(s):  
Detailed Analysis ◽  
Russian Federation ◽  
Significant Proportion ◽  
Transport Sector ◽  
Private Partnership ◽  
Current State ◽  
Central Regions ◽  
The Russian Federation ◽  
Project Data ◽  
Municipal Level

The article analyzes the current state and level of development of publicprivate partnership (PPP) projects in the subjects of the Russian Federation. The authors conclude that a significant proportion of projects is implemented on a concession basis at the municipal level in the communal sphere. A detailed analysis of the project data showed that the structure of the projects is deformed in favor of the central regions of the Russian Federation, and a significant share in the total amount of financing falls on the transport sector. At the stage of assessing the level of development by the subjects of the Russian Federation, criteria were proposed, and index and integral indicators were used, which ensured comparability of the estimates obtained. At the end of the analysis, the regions were ranked and clustered according to the level of PPP development, which allowed to reveal the number and structure of leaders and outsiders.

To Understand the Informal (on the Book BY V. L. Tambovtsev “Economics of Informal Institutions”)

2015 ◽  
pp. 151-158
Author(s):  
A. Zaostrovtsev
Keyword(s):  
Social Psychology ◽  
Detailed Analysis ◽  
Human Behavior ◽  
Interdisciplinary Approach ◽  
Informal Institutions ◽  
Economic Thought ◽  
History Of ◽  
Original Classification

The review considers the first attempt in the history of Russian economic thought to give a detailed analysis of informal institutions (IF). It recognizes that in general it was successful: the reader gets acquainted with the original classification of institutions (including informal ones) and their genesis. According to the reviewer the best achievement of the author is his interdisciplinary approach to the study of problems and, moreover, his bias on the achievements of social psychology because the model of human behavior in the economic mainstream is rather primitive. The book makes evident that namely this model limits the ability of economists to analyze IF. The reviewer also shares the author’s position that in the analysis of the IF genesis the economists should highlight the uncertainty and reject economic determinism. Further discussion of IF is hardly possible without referring to this book.

The Impact of Property Characteristics on Economic Performance of Russian Industrial Enterprises

2005 ◽  
pp. 53-68 ◽  
Author(s):  
R. Kapeliushnikov ◽  
N. Demina
Keyword(s):  
Detailed Analysis ◽  
Economic Performance ◽  
Ownership Concentration ◽  
Corporate Sector ◽  
Concentrated Ownership ◽  
Industrial Enterprises ◽  
Russian Industry ◽  
Control Premium ◽  
And Performance ◽  
The Impact

The paper provides new survey evidence on effects of concentrated ownership upon investment and performance in Russian industrial enterprises. Authors trace major changes in their ownership profile, assess pace of post-privatization redistribution of shareholdings and provide evidence on ownership concentration in the Russian industry. The major econometric findings are that the first largest shareholding is negatively associated with the firm’s investment and performance but surprisingly the second largest shareholding is positively associated with them. Moreover, these relationships do not depend on identity of majority shareholders. These results are consistent with the assumption that the entrenched controlling owners are engaged in extracting "control premium" but sizable shareholdings accumulated by other blockholders may put brakes on their expropriating behavior and thus be conductive for efficiency enhancing. The most interesting topic for further more detailed analysis is formation, stability and roles of coalitions of large blockholders in the corporate sector of post-socialist countries.

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