scholarly journals Wearable Haptic Device for Stiffness Rendering of Virtual Objects in Augmented Reality

2021 ◽  
Vol 11 (15) ◽  
pp. 6932
Author(s):  
Yongseok Lee ◽  
Somang Lee ◽  
Dongjun Lee

We propose a novel wearable haptic device that can provide kinesthetic haptic feedback for stiffness rendering of virtual objects in augmented reality (AR). Rendering stiffness of objects using haptic feedback is crucial for realistic finger-based object manipulation, yet challenging particularly in AR due to the co-presence of a real hand, haptic device, and rendered AR objects in the scenes. By adopting passive actuation with a tendon-based transmission mechanism, the proposed haptic device can generate kinesthetic feedback strong enough for immersive manipulation and prevention of inter-penetration in a small-form-factor, while maximizing the wearability and minimizing the occlusion in AR usage. A selective locking module is adopted in the device to allow for the rendering of the elasticity of objects. We perform an experimental study of two-finger grasping to verify the efficacy of the proposed haptic device for finger-based manipulation in AR. We also quantitatively compare/articulate the effects of different types of feedbacks across haptic and visual sense (i.e., kinesthetic haptic feedback, vibrotactile haptic feedback, and visuo-haptic feedback) for stiffness rendering of virtual objects in AR for the first time.

Author(s):  
Tanasha Taylor ◽  
Shana Smith ◽  
Karljohan L. Palmerius

The goal of this research study was to develop a music therapy tool using a computer-generated harp which could provide users with visual, audio, and haptic feedback during interaction with the virtual instrument. Realistic 3D visual and haptic feedback was provided through immersion in a portable augmented reality-based system composed of a video see-through head mounted display (HMD) and a Sensable Phantom Omni haptic device. Users play the virtual harp by using the Phantom Omni haptic device to pluck or strum the strings of the harp. Users can also freely move the harp in the augmented reality environment to provide a more realistic experience, similar to that of playing a traditional musical instrument. The system will be used to provide interactive musical experiences and to develop motor skills among individuals with disabilities through music therapy. A virtual therapist feature was developed which can be used by a therapist without musical knowledge to observe a user during therapy exercises or by a user to engage in self-motivated therapy exercises outside the therapy room. With the virtual therapy feature, users can follow a simple pre-determined sequence of notes using color-coded strings. User testing was completed to study usability, therapeutic effectiveness, and patients’ therapy motivation.


Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 29
Author(s):  
Gowri Shankar Giri ◽  
Yaser Maddahi ◽  
Kourosh Zareinia

Recent technological development has led to the invention of different designs of haptic devices, electromechanical devices that mediate communication between the user and the computer and allow users to manipulate objects in a virtual environment while receiving tactile feedback. The main criteria behind providing an interactive interface are to generate kinesthetic feedback and relay information actively from the haptic device. Sensors and feedback control apparatus are of paramount importance in designing and manufacturing a haptic device. In general, haptic technology can be implemented in different applications such as gaming, teleoperation, medical surgeries, augmented reality (AR), and virtual reality (VR) devices. This paper classifies the application of haptic devices based on the construction and functionality in various fields, followed by addressing major limitations related to haptics technology and discussing prospects of this technology.


Author(s):  
Tanasha Taylor ◽  
Shana Smith ◽  
David Suh

This research provides a prototype of a computer-generated harp, using physical string vibrations with haptic feedback in an augmented reality environment. The individuals, immersed in an augmented reality environment using a head mounted display, play the virtual harp with the Phantom Omni haptic device receiving realistic interactions from the strings of the harp. Most previous musical instruments research only provides feedback in the form of visual and audio cues, but not haptic cues. The proposed project is designed to provide individuals with all three forms of cues for interacting with a computer-generated harp. This computer-generated harp is modeled as a realistic harp and includes physics for string vibrations to provide the individuals a traditional instrument-like interaction. This prototype will be applied towards interactive musical experiences and development of skills during music therapy for individuals with disabilities.


Author(s):  
Vladimir A. Lapin ◽  
Erken S. Aldakhov ◽  
S. D. Aldakhov ◽  
A. B. Ali

For the first time in Almaty full passport of apartment stock of multiapartment building was carried out. The structure of the housing stock was revealed with the allocation of groups of buildings according to structural solutions and assessment of their seismic resistance. Based on the results of certification, quantitative estimates of failure probability values for different types of buildings were obtained. Formulas for estimation of quantitative value of seismic risk are obtained. The number of deaths in the estimated zem-shakes was estimated. The results of the assessments will be used for practical recommendations to reduce risk and expected losses in possible earthquakes.


Author(s):  
Jack Corbett ◽  
Wouter Veenendaal

Chapter 1 introduces the main arguments of the book; outlines the approach, method, and data; defines key terms; and provides a chapter outline. Global theories of democratization have systematically excluded small states, which make up roughly 20 per cent of countries. These cases debunk mainstream theories of why democratization succeeds or fails. This book brings small states into the comparative politics fold for the first time. It is organized thematically, with each chapter tackling one of the main theories from the democratization literature. Different types of data are examined—case studies and other documentary evidence, interviews and observation. Following an abductive approach, in addition to examining the veracity of existing theory, each chapter is also used to build an explanation of how democracy is practiced in small states. Specifically, we highlight how small state politics is shaped by personalization and informal politics, rather than formal institutional design.


2021 ◽  
Vol 7 (3) ◽  
pp. 38
Author(s):  
Alexandra Korotaeva ◽  
Danzan Mansorunov ◽  
Natalya Apanovich ◽  
Anna Kuzevanova ◽  
Alexander Karpukhin

Neuroendocrine neoplasms (NEN) are infrequent malignant tumors of a neuroendocrine nature that arise in various organs. They occur most frequently in the lungs, intestines, stomach and pancreas. Molecular diagnostics and prognosis of NEN development are highly relevant. The role of clinical biomarkers can be played by microRNAs (miRNAs). This work is devoted to the analysis of data on miRNA expression in NENs. For the first time, a search for specificity or a community of their functional characteristics in different types of NEN was carried out. Their properties as biomarkers were also analyzed. To date, more than 100 miRNAs have been characterized as differentially expressed and significant for the development of NEN tumors. Only about 10% of the studied miRNAs are expressed in several types of NEN; differential expression of the remaining 90% was found only in tumors of specific localizations. A significant number of miRNAs have been identified as potential biomarkers. However, only a few miRNAs have values that characterized their quality as markers. The analysis demonstrates the predominant specific expression of miRNA in each studied type of NEN. This indicates that miRNA’s functional features are predominantly influenced by the tissue in which they are formed.


2021 ◽  
Vol 11 (1) ◽  
pp. 363
Author(s):  
Juan Jesús Roldán-Gómez ◽  
Eduardo González-Gironda ◽  
Antonio Barrientos

Forest firefighting missions encompass multiple tasks related to prevention, surveillance, and extinguishing. This work presents a complete survey of firefighters on the current problems in their work and the potential technological solutions. Additionally, it reviews the efforts performed by the academy and industry to apply different types of robots in the context of firefighting missions. Finally, all this information is used to propose a concept of operation for the comprehensive application of drone swarms in firefighting. The proposed system is a fleet of quadcopters that individually are only able to visit waypoints and use payloads, but collectively can perform tasks of surveillance, mapping, monitoring, etc. Three operator roles are defined, each one with different access to information and functions in the mission: mission commander, team leaders, and team members. These operators take advantage of virtual and augmented reality interfaces to intuitively get the information of the scenario and, in the case of the mission commander, control the drone swarm.


Author(s):  
Sandip Moi ◽  
Suvankar Biswas ◽  
Smita Pal(Sarkar)

AbstractIn this article, some properties of neutrosophic derivative and neutrosophic numbers have been presented. This properties have been used to develop the neutrosophic differential calculus. By considering different types of first- and second-order derivatives, different kind of systems of derivatives have been developed. This is the first time where a second-order neutrosophic boundary-value problem has been introduced with different types of first- and second-order derivatives. Some numerical examples have been examined to explain different systems of neutrosophic differential equation.


Polymers ◽  
2021 ◽  
Vol 13 (11) ◽  
pp. 1729
Author(s):  
Patrizio Raffa

The study of interactions between polyelectrolytes (PE) and surfactants is of great interest for both fundamental and applied research. These mixtures can represent, for example, models of self-assembly and molecular organization in biological systems, but they are also relevant in industrial applications. Amphiphilic block polyelectrolytes represent an interesting class of PE, but their interactions with surfactants have not been extensively explored so far, most studies being restricted to non-associating PE. In this work, interactions between an anionic amphiphilic triblock polyelectrolyte and different types of surfactants bearing respectively negative, positive and no charge, are investigated via surface tension and solution rheology measurements for the first time. It is evidenced that the surfactants have different effects on viscosity and surface tension, depending on their charge type. Micellization of the surfactant is affected by the presence of the polymer in all cases; shear viscosity of polymer solutions decreases in presence of the same charge or nonionic surfactants, while the opposite charge surfactant causes precipitation. This study highlights the importance of the charge type, and the role of the associating hydrophobic block in the PE structure, on the solution behavior of the mixtures. Moreover, a possible interaction model is proposed, based on the obtained data.


2021 ◽  
Vol 80 (Suppl 1) ◽  
pp. 1147.1-1147
Author(s):  
A. Haddouche ◽  
K. Ait Bellabas ◽  
W. F. Hamrani ◽  
S. Sahraoui ◽  
R. Fatma ◽  
...  

Background:The management of rheumatoid arthritis refractory to conventional synthetic disease-modifying antirheumatic drugs (csDMARDs) is currently well codified and includes different types of biologics and even targeted sDMARDs. A rotation of biologic therapies is recommended in order to better control the disease.Methods:We report the case of a 20-year-old patient followed in our hospital for the management of a deforming and erosive seropositive rheumatoid arthritis (FR +, ACPA +) with a juvenile onset at the age of 8 years. The diagnosis of an immunopositive polyarticular form of JIA was retained in 2010 (9 years old); the patient was treated with methotrexate (MTX) at a dose of 10 mg per week and methylprednisolone at doses varying between 4 and 10 mg per day. Following the failure of MTX, etanercept was introduced for 6 months without success, followed by tocilizumab in 2012 at a dose of 8mg/kg/month for a year, without good response. In 2014, a course of rituximab (RTX) at a dose of 2 shots of 500mg, 2 weeks apart was prescribed followed 9 months later by etanercept at a dose of 50 mg a week for 3 years then by adalimumab (40mg/ week) because of the multiple treatment failures.In 2018, the repetition of RTX at a dose of 1g, renewed 15 days later, improved the patient for only 3 months. Then, a combination of two biologics, namely RTX (2 x 1g, 15 days apart) and adalimumab 1 month later (40mg / week) was received by the patient with a good response at 3 months. The latter was maintained for 7 months even after stopping the adalimumab following confinement for COVID-19. In September 2020, flares occurred and the adalimumab (ADA) has been delivered but without success during 3 months, stopped later for a benign form of COVID-19 (15 months after RTX). In January 2021, the association RTX + ADA was given again and we hope that it will be as effective as the first prescription.Results:The clinical and biological severity of our patient’s rheumatoid arthritis led us to give a combination of two biological treatments. Indeed, we do not have other therapeutic classes to deliver to her, that encouraged us to rotate between all the available biological therapies in our country. The combination of a CD20 inhibitor (RTX) with a TNF blocker (ADA) was safe and made possible, for the first time, the achievement of clinical and biological remission during 7 months, even after stopping the TNF blocker. Greenwald et al. reported the safety of the combination of RTX + TNF inhibitors in a randomized clinical trial in 51 patients. Its efficacy, a secondary goal of the study, was suggested at 24 weeks by the percentage of ACR 20 and ACR 50 responses that was greater than in the RTX placebo group.Conclusion:The combination of RTX with a TNF blocker can be a real alternative therapy in rheumatoid arthritis with failure to a biological monotherapy.Disclosure of Interests:None declared


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