scholarly journals Peer Review #2 of "Integrated jerk as an indicator of affinity for artificial agent kinematics: laptop and virtual reality experiments involving index finger motion during two-digit grasping (v0.1)"

Author(s):  
E Gowen
PeerJ ◽  
2020 ◽  
Vol 8 ◽  
pp. e9843
Author(s):  
James Hirose ◽  
Atsushi Nishikawa ◽  
Yosuke Horiba ◽  
Shigeru Inui ◽  
Todd C. Pataky

Uncanny valley research has shown that human likeness is an important consideration when designing artificial agents. It has separately been shown that artificial agents exhibiting human-like kinematics can elicit positive perceptual responses. However the kinematic characteristics underlying that perception have not been elucidated. This paper proposes kinematic jerk amplitude as a candidate metric for kinematic human likeness, and aims to determine whether a perceptual optimum exists over a range of jerk values. We created minimum-jerk two-digit grasp kinematics in a prosthetic hand model, then added different amplitudes of temporally smooth noise to yield a variety of animations involving different total jerk levels, ranging from maximally smooth to highly jerky. Subjects indicated their perceptual affinity for these animations by simultaneously viewing two different animations side-by-side, first using a laptop, then separately within a virtual reality (VR) environment. Results suggest that (a) subjects generally preferred smoother kinematics, (b) subjects exhibited a small preference for rougher-than minimum jerk kinematics in the laptop experiment, and that (c) the preference for rougher-than minimum-jerk kinematics was amplified in the VR experiment. These results suggest that non-maximally smooth kinematics may be perceptually optimal in robots and other artificial agents.


Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
G Carbone ◽  
M Ceccarelli ◽  
C. E. Capalbo ◽  
G Caroleo ◽  
C Morales-Cruz

Abstract This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.


2019 ◽  
Vol 14 ◽  
pp. 155892501988762 ◽  
Author(s):  
Xiaoxue Han ◽  
Xuhong Miao ◽  
Xi Chen ◽  
Gaoming Jiang ◽  
Li Niu

Knitted flexible sensors are sensors based on the loop structure of knitted fabric, which are soft and close-fitting. Monitoring finger motion can obtain useful information for some applications such as rehabilitation medicine, sports bionics, or human–computer interaction. In this paper, a conductive glove was knitted by SHIMA Seiki SWG 061N-15G computerized flat knitting machine. One experimenter wore it to measure motions data of index finger. The glove has a conductive intarsia area knitted by silver-nylon filaments. The experimenter performed static and dynamic test of hand posture, respectively, then observed the effect of figure bending characteristics on the glove resistance data. The result showed that human finger motion can be monitored successfully by the conductive glove without hard transducers, and both of the bending rate ( Br) and bending angle of the finger proximal interphalangeal joint ( Pba) affect the resistance change of the conductive area of the glove. In other words, the conductive glove has potentials to monitor and reflect human finger motions in detail.


2018 ◽  
pp. 1343-1358
Author(s):  
Niken Prasasti Martono ◽  
Takehiko Yamaguchi ◽  
Takuya Maeta ◽  
Hibiki Fujino ◽  
Yuki Kubota ◽  
...  

Research in virtual reality (VR) has resulted in the development of many applications in clinical settings in the areas of learning and therapy in psychology and neuropsychology because this technology can be flexible to the needs of the clinical application. VR technology has many implementations for cognitive training and as a screening tool for patients with mild cognitive impairment (MCI). The technology has been used in the screening, diagnosis, treatment and support of patients with MCI. This study found that the information recorded in VR-based learning software can be useful in analyzing individuals with MCI in order to characterize groups of participants. The authors implemented a time series clustering algorithm acting on finger motion data from nine healthy participants as a pilot study, then comprehensively reviewed the clustering result by comparing it with performance-based measures. The results indicate that the clusters formed by using the acceleration data is reasonably analogous to the performance measures (i.e., with respect to the type and number of errors that occurred).


2006 ◽  
Vol 31 (4) ◽  
pp. 371-376 ◽  
Author(s):  
F. SCHUIND ◽  
C. VAN HOLDER ◽  
D. MOURAUX ◽  
CH. ROBERT ◽  
A. MEYER ◽  
...  

The first Belgian hand transplant was a 22 year-old man with a traumatic amputation of his dominant hand at the junction of the middle and distal thirds of the forearm. The donor and recipient had three HLA mismatches. The cross-match was negative. The total ischaemic time was slightly over 6 hours. Immunosuppression included antithymocyte globulins at induction and tacrolimus, mycophenolate mofetil and prednisolone as induction and maintenance therapy. There has been no episode of rejection. The only significant complications, except for transient hyperglycaemia, were psychological. At 37 months post-transplantation, the patient has fully incorporated his transplant into his self-image and is back at work. He has good sensibility (two-point discrimination of 6 mm at the thumb and index finger pulps), acceptable wrist and finger motion with functioning intrinsic muscles. According to Chen’s criteria, the result is good to excellent.


2010 ◽  
Vol 113 (1) ◽  
pp. 129-132 ◽  
Author(s):  
Jayme Augusto Bertelli ◽  
Marcos Flavio Ghizoni

Object In C7–T1 palsies of the brachial plexus, shoulder and elbow function are preserved, but finger motion is absent. Finger flexion has been reconstructed by tendon or nerve transfers. Finger extension has been restored ineffectively by attaching the extensor tendons to the distal aspect of the dorsal radius (termed tenodesis) or by tendon transfers. In these palsies, supinator muscle function is preserved, because innervation stems from the C-6 root. The feasibility of transferring supinator branches to the posterior interosseous nerve has been documented in a previous anatomical study. In this paper, the authors report the clinical results of supinator motor nerve transfer to the posterior interosseous nerve in 4 patients with a C7–T1 root lesion. Methods Four adult patients with C7–T1 root lesions underwent surgery between 5 and 7 months postinjury. The patients had preserved motion of the shoulder, elbow, and wrist, but they had complete palsy of finger motion. They underwent finger flexion reconstruction via transfer of the brachialis muscle, and finger and thumb extension were restored by transferring the supinator motor branches to the posterior interosseous nerve. This nerve transfer was performed through an incision over the proximal third of the radius. Dissection was carried out between the extensor carpi radialis brevis and the extensor digitorum communis. The patients were followed up as per regular protocol and underwent a final evaluation 12 months after surgery. To document the extent of recovery, the authors assessed the degree of active metacarpophalangeal joint extension of the long fingers. The thumb span was evaluated by measuring the distance between the thumb pulp and the lateral aspect of the index finger. Results Surgery to transfer the supinator motor branches to the posterior interosseous nerve was straightforward. Twelve months after surgery, all patients were capable of opening their hand and could fully extend their metacarpophalangeal joints. The distance of thumb abduction improved from 0 to 5 cm from the lateral aspect of the index finger. Conclusions Transferring supinator motor nerves directly to the posterior interosseous nerve is effective in at least partially restoring thumb and finger extension in patients with lower-type injuries of the brachial plexus.


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