scholarly journals Interface Transparency Issues in Teleoperation

2020 ◽  
Vol 10 (18) ◽  
pp. 6232
Author(s):  
Luis Almeida ◽  
Paulo Menezes ◽  
Jorge Dias
Keyword(s):  
Spatial Cognition ◽  
Mental Workload ◽  
Body Position ◽  
Human Perception ◽  
Frame Of Reference ◽  
Frame Rate ◽  
Evaluation Methodology ◽  
Motor Action ◽  
Teleoperation Systems ◽  
Robotic Agent

Transferring skills and expertise to remote places, without being present, is a new challenge for our digitally interconnected society. People can experience and perform actions in distant places through a robotic agent wearing immersive interfaces to feel physically there. However, technological contingencies can affect human perception, compromising skill-based performances. Considering the results from studies on human factors, a set of recommendations for the construction of immersive teleoperation systems is provided, followed by an example of the evaluation methodology. We developed a testbed to study perceptual issues that affect task performance while users manipulated the environment either through traditional or immersive interfaces. The analysis of its effect on perception, navigation, and manipulation relies on performances measures and subjective answers. The goal is to mitigate the effect of factors such as system latency, field of view, frame of reference, or frame rate to achieve the sense of telepresence. By decoupling the flows of an immersive teleoperation system, we aim to understand how vision and interaction fidelity affects spatial cognition. Results show that misalignments between the frame of reference for vision and motor-action or the use of tools affecting the sense of body position or movement have a higher effect on mental workload and spatial cognition.

scholarly journals The Body Position Spatial Task, a Test of Whole-Body Spatial Cognition: Comparison Between Adults With and Without Parkinson Disease

2018 ◽  
Vol 32 (11) ◽  
pp. 961-975 ◽  
Author(s):  
Jessica Battisto ◽  
Katharina V. Echt ◽  
Steven L. Wolf ◽  
Paul Weiss ◽  
Madeleine E. Hackney
Keyword(s):  
Parkinson Disease ◽  
Spatial Cognition ◽  
Body Position ◽  
Spatial Task ◽  
The Body ◽  
Whole Body

How many words can my robot learn?

2007 ◽  
Vol 8 (1) ◽  
pp. 53-81 ◽  
Author(s):  
Luís Seabra Lopes ◽  
Aneesh Chauhan
Keyword(s):  
Word Learning ◽  
Real World ◽  
Scale Up ◽  
Human Robot Interaction ◽  
Learning System ◽  
Evaluation Methodology ◽  
Robot Interaction ◽  
Instructor Feedback ◽  
Discriminatory Capacity ◽  
Robotic Agent

This paper addresses word learning for human–robot interaction. The focus is on making a robotic agent aware of its surroundings, by having it learn the names of the objects it can find. The human user, acting as instructor, can help the robotic agent ground the words used to refer to those objects. A lifelong learning system, based on one-class learning, was developed (OCLL). This system is incremental and evolves with the presentation of any new word, which acts as a class to the robot, relying on instructor feedback. A novel experimental evaluation methodology, that takes into account the open-ended nature of word learning, is proposed and applied. This methodology is based on the realization that a robot’s vocabulary will be limited by its discriminatory capacity which, in turn, depends on its sensors and perceptual capabilities. The results indicate that the robot’s representations are capable of incrementally evolving by correcting class descriptions, based on instructor feedback to classification results. In successive experiments, it was possible for the robot to learn between 6 and 12 names of real-world office objects. Although these results are comparable to those obtained by other authors, there is a need to scale-up. The limitations of the method are discussed and potential directions for improvement are pointed out.

Motoric and Perceptual Kinesthetic Symmetry in Bi-manual Interactions

2021 ◽  
pp. 1-19
Author(s):  
Ronak Ranjitkumar Mohanty ◽  
Riddhi R. Adhikari ◽  
Vinayak R. Krishnamurthy
Keyword(s):  
Force Feedback ◽  
Human Perception ◽  
Dominant Hand ◽  
Spring Stiffness ◽  
Motor Action ◽  
Perceptual Illusions ◽  
Co Activation ◽  
Spatial Tasks ◽  
The Individual ◽  
Perceptual Aspect

Abstract Bi-manual (two-handed) actions have shown notable success in rehabilitative and therapeutic applications from the point of motor symmetry. Recent studies have shown that symmetry in actions is attributed to sensorimotor perception than mere co-activation of homologous muscles. In this paper, we present a study of symmetric and asymmetric haptic (specifically force) feedback on human perception and motor action during bi-manual spatial tasks. To the best of our knowledge, ours is the first procedure to specifically test the perceptual aspect of bi-manual actions in contrast to other works that typically characterize the physical/bio-mechanical aspects. Thereby in our experiment, healthy individuals were tasked with stretching a virtual spring using two symmetrically located haptics devices that provide an equal amount of resistive force on each hand while pulling the spring. In this experiment, we implement four kinesthetic conditions, namely (1) feedback on both hands, (2) feedback only on dominant hand, (3) feedback only on non-dominant hand, and (4) no feedback as our control. Our first goal was to determine if there exists a range of spring stiffness in which the individual incorrectly perceives bi-manual forces when the feedback is deactivated on one hand. Subsequently, we also wanted to investigate what range of spring stiffness would lead to such perceptual illusions. Our analysis shows that not only does such a range exist, it is wide enough so as to be potentially utilized in future rehabilitative applications.

scholarly journals Stretching Interventions and Their Effect on Mental the Workload

2020 ◽  
Vol 9 (7) ◽  
pp. 286-295
Keyword(s):  
Mental Workload ◽  
Body Position ◽  
Statistical Processing ◽  
Positive Influence ◽  
Homogeneity Test ◽  
Musculoskeletal Discomfort ◽  
Multivariate Test ◽  
Physical Strength ◽  
Left Hand ◽  
Glass Cleaning

Cleaning workers are jobs that require physical strength especially if the work is carried out at a height, and it is not uncommon to complain about musculoskeletal discomfort in physical areas that feel uncomfortable when working in an un ergonomic position. From the observation results If observed posture when cleaning wokers work, body position tilted and bent with angles ranging from 20°-60°, neck bent with an angle of about 20 °, cleaning is done repeatedly by shifting the left hand and right hand with the angle of the upper arm > 90° raised for 10 minutes and forearm around 40°, this illustrates the condition of awkward posture cleaning wokers not ergonomic, posture that is not ergonomic will cause musculoskeletal disorder. The purpose of this research is to measure the effect of stretching on mental workload in an effort to mental recovery. To achieve these objectives, first determine the type of glass cleaning activity outside the building at a height including: preparing tools, climbing stairs, cleaning glass, moving to other areas and cleaning tools, determining stretching movements, then conducting experiments in this case divided into 3 (three) treatment, first without stretching, giving stretching in the morning at 10 am for 6 minutes and stretching during the day at 2 pm for 6 minutes. Measurement of mental workload using the Subjective Workload Assessment Technique (SWAT) method, statistical processing by carrying out the covariance homogeneity test, Multivariate test and followed by the MANOVA test. The results of this research that stretching in addition to having a positive influence on the decline in mental workload, can also be used for mental recovery. Working at a height with a work posture that is not ergonomic, will increase the level of mental workload

Frame of reference for visual perception in young infants during change of body position

2007 ◽  
Vol 183 (4) ◽  
pp. 523-529 ◽  
Author(s):  
Keisuke Kushiro ◽  
Gentaro Taga ◽  
Hama Watanabe
Keyword(s):  
Visual Perception ◽  
Body Position ◽  
Frame Of Reference ◽  
Young Infants
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