A "virtually minimal" visuo-haptic training of attention in severe traumatic brain injury.

PubMed

Dvorkin, Assaf Y; Ramaiya, Milan; Larson, Eric B; Zollman, Felise S; Hsu, Nancy; Pacini, Sonia; Shah, Amit; Patton, James L

2013-08-09

Although common during the early stages of recovery from severe traumatic brain injury (TBI), attention deficits have been scarcely investigated. Encouraging evidence suggests beneficial effects of attention training in more chronic and higher functioning patients. Interactive technology may provide new opportunities for rehabilitation in inpatients who are earlier in their recovery. We designed a "virtually minimal" approach using robot-rendered haptics in a virtual environment to train severely injured inpatients in the early stages of recovery to sustain attention to a visuo-motor task. 21 inpatients with severe TBI completed repetitive reaching toward targets that were both seen and felt. Patients were tested over two consecutive days, experiencing 3 conditions (no haptic feedback, a break-through force, and haptic nudge) in 12 successive, 4-minute blocks. The interactive visuo-haptic environments were well-tolerated and engaging. Patients typically remained attentive to the task. However, patients exhibited attention loss both before (prolonged initiation) and during (pauses during motion) a movement. Compared to no haptic feedback, patients benefited from haptic nudge cues but not break-through forces. As training progressed, patients increased the number of targets acquired and spontaneously improved from one day to the next. Interactive visuo-haptic environments could be beneficial for attention training for severe TBI patients in the early stages of recovery and warrants further and more prolonged clinical testing.

Differential effects of non-informative vision and visual interference on haptic spatial processing

PubMed Central

van Rheede, Joram J.; Postma, Albert; Kappers, Astrid M. L.

2008-01-01

The primary purpose of this study was to examine the effects of non-informative vision and visual interference upon haptic spatial processing, which supposedly derives from an interaction between an allocentric and egocentric reference frame. To this end, a haptic parallelity task served as baseline to determine the participant-dependent biasing influence of the egocentric reference frame. As expected, large systematic participant-dependent deviations from veridicality were observed. In the second experiment we probed the effect of non-informative vision on the egocentric bias. Moreover, orienting mechanisms (gazing directions) were studied with respect to the presentation of haptic information in a specific hemispace. Non-informative vision proved to have a beneficial effect on haptic spatial processing. No effect of gazing direction or hemispace was observed. In the third experiment we investigated the effect of simultaneously presented interfering visual information on the haptic bias. Interfering visual information parametrically influenced haptic performance. The interplay of reference frames that subserves haptic spatial processing was found to be related to both the effects of non-informative vision and visual interference. These results suggest that spatial representations are influenced by direct cross-modal interactions; inter-participant differences in the haptic modality resulted in differential effects of the visual modality. PMID:18553074

Operator dynamics for stability condition in haptic and teleoperation system: A survey.

PubMed

Li, Hongbing; Zhang, Lei; Kawashima, Kenji

2018-04-01

Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey. Copyright © 2018 John Wiley & Sons, Ltd.

Multimodal Virtual Environments: MAGIC Toolkit and Visual-Haptic Interaction Paradigms

DTIC Science & Technology

1998-01-01

2.7.3 Load/Save Options ..... 2.7.4 Information Display .... 2.8 Library Files. 2.9 Evaluation .............. 3 Visual-Haptic Interactions 3.1...Northwestern University[ Colgate , 1994]. It is possible for a user to touch one side of a thin object and be propelled out the opposite side, because...when there is a high correlation in motion and force between the visual and haptic realms. * Chapter 7 concludes with an evaluation of the application

Shifty: A Weight-Shifting Dynamic Passive Haptic Proxy to Enhance Object Perception in Virtual Reality.

PubMed

Zenner, Andre; Kruger, Antonio

2017-04-01

We define the concept of Dynamic Passive Haptic Feedback (DPHF) for virtual reality by introducing the weight-shifting physical DPHF proxy object Shifty. This concept combines actuators known from active haptics and physical proxies known from passive haptics to construct proxies that automatically adapt their passive haptic feedback. We describe the concept behind our ungrounded weight-shifting DPHF proxy Shifty and the implementation of our prototype. We then investigate how Shifty can, by automatically changing its internal weight distribution, enhance the user's perception of virtual objects interacted with in two experiments. In a first experiment, we show that Shifty can enhance the perception of virtual objects changing in shape, especially in length and thickness. Here, Shifty was shown to increase the user's fun and perceived realism significantly, compared to an equivalent passive haptic proxy. In a second experiment, Shifty is used to pick up virtual objects of different virtual weights. The results show that Shifty enhances the perception of weight and thus the perceived realism by adapting its kinesthetic feedback to the picked-up virtual object. In the same experiment, we additionally show that specific combinations of haptic, visual and auditory feedback during the pick-up interaction help to compensate for visual-haptic mismatch perceived during the shifting process.

Visuo-Haptic Mixed Reality with Unobstructed Tool-Hand Integration.

PubMed

Cosco, Francesco; Garre, Carlos; Bruno, Fabio; Muzzupappa, Maurizio; Otaduy, Miguel A

2013-01-01

Visuo-haptic mixed reality consists of adding to a real scene the ability to see and touch virtual objects. It requires the use of see-through display technology for visually mixing real and virtual objects, and haptic devices for adding haptic interaction with the virtual objects. Unfortunately, the use of commodity haptic devices poses obstruction and misalignment issues that complicate the correct integration of a virtual tool and the user's real hand in the mixed reality scene. In this work, we propose a novel mixed reality paradigm where it is possible to touch and see virtual objects in combination with a real scene, using commodity haptic devices, and with a visually consistent integration of the user's hand and the virtual tool. We discuss the visual obstruction and misalignment issues introduced by commodity haptic devices, and then propose a solution that relies on four simple technical steps: color-based segmentation of the hand, tracking-based segmentation of the haptic device, background repainting using image-based models, and misalignment-free compositing of the user's hand. We have developed a successful proof-of-concept implementation, where a user can touch virtual objects and interact with them in the context of a real scene, and we have evaluated the impact on user performance of obstruction and misalignment correction.

A pseudo-haptic knot diagram interface

NASA Astrophysics Data System (ADS)

Zhang, Hui; Weng, Jianguang; Hanson, Andrew J.

2011-01-01

To make progress in understanding knot theory, we will need to interact with the projected representations of mathematical knots which are of course continuous in 3D but significantly interrupted in the projective images. One way to achieve such a goal would be to design an interactive system that allows us to sketch 2D knot diagrams by taking advantage of a collision-sensing controller and explore their underlying smooth structures through a continuous motion. Recent advances of interaction techniques have been made that allow progress to be made in this direction. Pseudo-haptics that simulates haptic effects using pure visual feedback can be used to develop such an interactive system. This paper outlines one such pseudo-haptic knot diagram interface. Our interface derives from the familiar pencil-and-paper process of drawing 2D knot diagrams and provides haptic-like sensations to facilitate the creation and exploration of knot diagrams. A centerpiece of the interaction model simulates a "physically" reactive mouse cursor, which is exploited to resolve the apparent conflict between the continuous structure of the actual smooth knot and the visual discontinuities in the knot diagram representation. Another value in exploiting pseudo-haptics is that an acceleration (or deceleration) of the mouse cursor (or surface locator) can be used to indicate the slope of the curve (or surface) of whom the projective image is being explored. By exploiting these additional visual cues, we proceed to a full-featured extension to a pseudo-haptic 4D visualization system that simulates the continuous navigation on 4D objects and allows us to sense the bumps and holes in the fourth dimension. Preliminary tests of the software show that main features of the interface overcome some expected perceptual limitations in our interaction with 2D knot diagrams of 3D knots and 3D projective images of 4D mathematical objects.

Motor skills, haptic perception and social abilities in children with mild speech disorders.

PubMed

Müürsepp, Iti; Aibast, Herje; Gapeyeva, Helena; Pääsuke, Mati

2012-02-01

The aim of the study was to evaluate motor skills, haptic object recognition and social interaction in 5-year-old children with mild specific expressive language impairment (expressive-SLI) and articulation disorder (AD) in comparison of age- and gender matched healthy children. Twenty nine children (23 boys and 6 girls) with expressive-SLI, 27 children (20 boys and 7 girls) with AD and 30 children (23 boys and 7 girls) with typically developing language as controls participated in our study. The children were examined for manual dexterity, ball skills, static and dynamic balance by M-ABC test, haptic object recognition and for social interaction by questionnaire completed by teachers. Children with mild expressive-SLI demonstrated significantly poorer results in all subtests of motor skills (p<0.05), in haptic object recognition and social interaction (p<0.01) compared to controls. There were no statistically significant differences (p>0.05) in measured parameters between children with AD and controls. Children with expressive-SLI performed considerably poorer compared to AD group in balance subtest (p<0.05), and in overall M-ABC test (p<0.01). In children with mild expressive-SLI the functional motor performance, haptic perception and social interaction are considerably more affected than in children with AD. Although motor difficulties in speech production are prevalent in AD, it is localised and does not involve children's general motor skills, haptic perception or social interaction. Copyright © 2011 The Japanese Society of Child Neurology. Published by Elsevier B.V. All rights reserved.

Chiral Differentiation of DNA Adducts Formed by Enantiomeric Analogues of Antitumor Cisplatin Is Sequence-Dependent

PubMed Central

Delalande, Olivier; Malina, Jaroslav; Brabec, Viktor; Kozelka, Jiří

2005-01-01

1,2-GG intrastrand cross-links formed in DNA by the enantiomeric complexes [PtCl2(R,R-2,3-diaminobutane (DAB))] and [PtCl2(S,S-DAB)] were studied by biophysical methods. Molecular modeling revealed that structure of the cross-links formed at the TGGT sequence was affected by repulsion between the 5′-directed methyl group of the DAB ligand and the methyl group of the 5′-thymine of the TGGT fragment. Molecular dynamics simulations of the solvated platinated duplexes and our recent structural data indicated that the adduct of [PtCl2(R,R-DAB)] alleviated this repulsion by unwinding the TpG step, whereas the adduct of [PtCl2(S,S-DAB)] avoided the unfavorable methyl-methyl interaction by decreasing the kink angle. Electrophoretic retardation measurements on DNA duplexes containing 1,2-GG intrastrand cross-links of Pt(R,R-DAB)2+ or Pt(S,S-DAB)2+ at a CGGA site showed that in this sequence both enantiomers distorted the double helix to the identical extent similar to that found previously for the same sequence containing the cross-links of the parent antitumor \\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\setlength{\\oddsidemargin}{-69pt} \\begin{document} \\begin{equation*}cis-{\\mathrm{Pt}}({\\mathrm{NH}}_{3})_{2}^{2+}\\end{equation*}\\end{document} (cisplatin). In addition, the adducts showed similar affinities toward the high-mobility-group box 1 proteins. Hence, whereas the structural perturbation induced in DNA by 1,2-GG intrastrand cross-links of cisplatin does not depend largely on the bases flanking the cross-links, the perturbation related to GG cross-linking by bulkier platinum diamine derivatives does. PMID:15805172

AIP1-mediated stress signaling in atherosclerosis and arteriosclerosis

PubMed Central

Zhang, Jiqin; Zhou, Huanjiao Jenny; Ji, Weidong; Min, Wang

2016-01-01

AIP1 (encoded by the DAB2IP gene), a signaling scaffolding protein, is abundantly expressed in vascular endothelial cells (EC). While it was initially discovered as an ASK1-interacting protein, AIP1 broadly suppresses inflammatory responses triggered by cytokines and stresses such as TNF, LPS, VEGF and ER stress in EC (therefore AIP1 is an Anti-Inflammatory Protein). Human genome-wide association study (GWAS) has identified DAB2IP gene variants conferring susceptibility to cardiovascular diseases. Consistently, a global or vascular EC-specific deletion of DAB2IP in mice strongly enhances inflammatory responses and exacerbates atherosclerosis and graft arteriosclerosis progression in mouse models. Mechanisms for AIP1 function and regulation associated with human cardiovascular diseases need further investigations. PMID:25732743

Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces.

PubMed

Culbertson, Heather; Kuchenbecker, Katherine J

2017-01-01

Interacting with physical objects through a tool elicits tactile and kinesthetic sensations that comprise your haptic impression of the object. These cues, however, are largely missing from interactions with virtual objects, yielding an unrealistic user experience. This article evaluates the realism of virtual surfaces rendered using haptic models constructed from data recorded during interactions with real surfaces. The models include three components: surface friction, tapping transients, and texture vibrations. We render the virtual surfaces on a SensAble Phantom Omni haptic interface augmented with a Tactile Labs Haptuator for vibration output. We conducted a human-subject study to assess the realism of these virtual surfaces and the importance of the three model components. Following a perceptual discrepancy paradigm, subjects compared each of 15 real surfaces to a full rendering of the same surface plus versions missing each model component. The realism improvement achieved by including friction, tapping, or texture in the rendering was found to directly relate to the intensity of the surface's property in that domain (slipperiness, hardness, or roughness). A subsequent analysis of forces and vibrations measured during interactions with virtual surfaces indicated that the Omni's inherent mechanical properties corrupted the user's haptic experience, decreasing realism of the virtual surface.

Invited Article: A review of haptic optical tweezers for an interactive microworld exploration

NASA Astrophysics Data System (ADS)

Pacoret, Cécile; Régnier, Stéphane

2013-08-01

This paper is the first review of haptic optical tweezers, a new technique which associates force feedback teleoperation with optical tweezers. This technique allows users to explore the microworld by sensing and exerting picoNewton-scale forces with trapped microspheres. Haptic optical tweezers also allow improved dexterity of micromanipulation and micro-assembly. One of the challenges of this technique is to sense and magnify picoNewton-scale forces by a factor of 1012 to enable human operators to perceive interactions that they have never experienced before, such as adhesion phenomena, extremely low inertia, and high frequency dynamics of extremely small objects. The design of optical tweezers for high quality haptic feedback is challenging, given the requirements for very high sensitivity and dynamic stability. The concept, design process, and specification of optical tweezers reviewed here are focused on those intended for haptic teleoperation. In this paper, two new specific designs as well as the current state-of-the-art are presented. Moreover, the remaining important issues are identified for further developments. The initial results obtained are promising and demonstrate that optical tweezers have a significant potential for haptic exploration of the microworld. Haptic optical tweezers will become an invaluable tool for force feedback micromanipulation of biological samples and nano- and micro-assembly parts.

Direct Visuo-Haptic 4D Volume Rendering Using Respiratory Motion Models.

PubMed

Fortmeier, Dirk; Wilms, Matthias; Mastmeyer, Andre; Handels, Heinz

2015-01-01

This article presents methods for direct visuo-haptic 4D volume rendering of virtual patient models under respiratory motion. Breathing models are computed based on patient-specific 4D CT image data sequences. Virtual patient models are visualized in real-time by ray casting based rendering of a reference CT image warped by a time-variant displacement field, which is computed using the motion models at run-time. Furthermore, haptic interaction with the animated virtual patient models is provided by using the displacements computed at high rendering rates to translate the position of the haptic device into the space of the reference CT image. This concept is applied to virtual palpation and the haptic simulation of insertion of a virtual bendable needle. To this aim, different motion models that are applicable in real-time are presented and the methods are integrated into a needle puncture training simulation framework, which can be used for simulated biopsy or vessel puncture in the liver. To confirm real-time applicability, a performance analysis of the resulting framework is given. It is shown that the presented methods achieve mean update rates around 2,000 Hz for haptic simulation and interactive frame rates for volume rendering and thus are well suited for visuo-haptic rendering of virtual patients under respiratory motion.

Adaptive displays and controllers using alternative feedback.

PubMed

Repperger, D W

2004-12-01

Investigations on the design of haptic (force reflecting joystick or force display) controllers were conducted by viewing the display of force information within the context of several different paradigms. First, using analogies from electrical and mechanical systems, certain schemes of the haptic interface were hypothesized which may improve the human-machine interaction with respect to various criteria. A discussion is given on how this interaction benefits the electrical and mechanical system. To generalize this concept to the design of human-machine interfaces, three studies with haptic mechanisms were then synthesized and analyzed.

Development of a StandAlone Surgical Haptic Arm.

PubMed

Jones, Daniel; Lewis, Andrew; Fischer, Gregory S

2011-01-01

When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is proposed that haptic feedback in the control of MIRS systems could improve the speed, safety and learning curve of robotic surgery. To test this hypothesis, a standalone surgical haptic arm (SASHA) capable of manipulating da Vinci tools has been designed and fabricated with the additional ability of providing information for haptic feedback. This arm was developed as a research platform for developing and evaluating approaches to telesurgery, including various haptic mappings between master and slave and evaluating the effects of latency.

Seeing a haptically explored face: visual facial-expression aftereffect from haptic adaptation to a face.

PubMed

Matsumiya, Kazumichi

2013-10-01

Current views on face perception assume that the visual system receives only visual facial signals. However, I show that the visual perception of faces is systematically biased by adaptation to a haptically explored face. Recently, face aftereffects (FAEs; the altered perception of faces after adaptation to a face) have been demonstrated not only in visual perception but also in haptic perception; therefore, I combined the two FAEs to examine whether the visual system receives face-related signals from the haptic modality. I found that adaptation to a haptically explored facial expression on a face mask produced a visual FAE for facial expression. This cross-modal FAE was not due to explicitly imaging a face, response bias, or adaptation to local features. Furthermore, FAEs transferred from vision to haptics. These results indicate that visual face processing depends on substrates adapted by haptic faces, which suggests that face processing relies on shared representation underlying cross-modal interactions.

Haptic wearables as sensory replacement, sensory augmentation and trainer - a review.

PubMed

Shull, Peter B; Damian, Dana D

2015-07-20

Sensory impairments decrease quality of life and can slow or hinder rehabilitation. Small, computationally powerful electronics have enabled the recent development of wearable systems aimed to improve function for individuals with sensory impairments. The purpose of this review is to synthesize current haptic wearable research for clinical applications involving sensory impairments. We define haptic wearables as untethered, ungrounded body worn devices that interact with skin directly or through clothing and can be used in natural environments outside a laboratory. Results of this review are categorized by degree of sensory impairment. Total impairment, such as in an amputee, blind, or deaf individual, involves haptics acting as sensory replacement; partial impairment, as is common in rehabilitation, involves haptics as sensory augmentation; and no impairment involves haptics as trainer. This review found that wearable haptic devices improved function for a variety of clinical applications including: rehabilitation, prosthetics, vestibular loss, osteoarthritis, vision loss and hearing loss. Future haptic wearables development should focus on clinical needs, intuitive and multimodal haptic displays, low energy demands, and biomechanical compliance for long-term usage.

Perceptualization of geometry using intelligent haptic and visual sensing

NASA Astrophysics Data System (ADS)

Weng, Jianguang; Zhang, Hui

2013-01-01

We present a set of paradigms for investigating geometric structures using haptic and visual sensing. Our principal test cases include smoothly embedded geometry shapes such as knotted curves embedded in 3D and knotted surfaces in 4D, that contain massive intersections when projected to one lower dimension. One can exploit a touch-responsive 3D interactive probe to haptically override this conflicting evidence in the rendered images, by forcing continuity in the haptic representation to emphasize the true topology. In our work, we exploited a predictive haptic guidance, a "computer-simulated hand" with supplementary force suggestion, to support intelligent exploration of geometry shapes that will smooth and maximize the probability of recognition. The cognitive load can be reduced further when enabling an attention-driven visual sensing during the haptic exploration. Our methods combine to reveal the full richness of the haptic exploration of geometric structures, and to overcome the limitations of traditional 4D visualization.

Haptics-based dynamic implicit solid modeling.

PubMed

Hua, Jing; Qin, Hong

2004-01-01

This paper systematically presents a novel, interactive solid modeling framework, Haptics-based Dynamic Implicit Solid Modeling, which is founded upon volumetric implicit functions and powerful physics-based modeling. In particular, we augment our modeling framework with a haptic mechanism in order to take advantage of additional realism associated with a 3D haptic interface. Our dynamic implicit solids are semi-algebraic sets of volumetric implicit functions and are governed by the principles of dynamics, hence responding to sculpting forces in a natural and predictable manner. In order to directly manipulate existing volumetric data sets as well as point clouds, we develop a hierarchical fitting algorithm to reconstruct and represent discrete data sets using our continuous implicit functions, which permit users to further design and edit those existing 3D models in real-time using a large variety of haptic and geometric toolkits, and visualize their interactive deformation at arbitrary resolution. The additional geometric and physical constraints afford more sophisticated control of the dynamic implicit solids. The versatility of our dynamic implicit modeling enables the user to easily modify both the geometry and the topology of modeled objects, while the inherent physical properties can offer an intuitive haptic interface for direct manipulation with force feedback.

Sensory subtraction in robot-assisted surgery: fingertip skin deformation feedback to ensure safety and improve transparency in bimanual haptic interaction.

PubMed

Meli, Leonardo; Pacchierotti, Claudio; Prattichizzo, Domenico

2014-04-01

This study presents a novel approach to force feedback in robot-assisted surgery. It consists of substituting haptic stimuli, composed of a kinesthetic component and a skin deformation, with cutaneous stimuli only. The force generated can then be thought as a subtraction between the complete haptic interaction, cutaneous, and kinesthetic, and the kinesthetic part of it. For this reason, we refer to this approach as sensory subtraction. Sensory subtraction aims at outperforming other nonkinesthetic feedback techniques in teleoperation (e.g., sensory substitution) while guaranteeing the stability and safety of the system. We tested the proposed approach in a challenging 7-DoF bimanual teleoperation task, similar to the Pegboard experiment of the da Vinci Skills Simulator. Sensory subtraction showed improved performance in terms of completion time, force exerted, and total displacement of the rings with respect to two popular sensory substitution techniques. Moreover, it guaranteed a stable interaction in the presence of a communication delay in the haptic loop.

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality

PubMed Central

Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-01-01

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and heat) to each fingertip (thumb and index finger). It is incorporated into a wearable band-type system, making its use easy and convenient. Next, hand motion is accurately captured using the sensor of the hand tracking system and is used for virtual object control, thus achieving interaction that enhances immersion. A VR application was designed with the purpose of testing the immersion and presence aspects of the proposed system. Lastly, technical and statistical tests were carried out to assess whether the proposed haptic system can provide a new immersive presence to users. According to the results of the presence questionnaire and the simulator sickness questionnaire, we confirmed that the proposed hand haptic system, in comparison to the existing interaction that uses only the hand tracking system, provided greater presence and a more immersive environment in the virtual reality. PMID:28513545

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality.

PubMed

Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-05-17

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and heat) to each fingertip (thumb and index finger). It is incorporated into a wearable band-type system, making its use easy and convenient. Next, hand motion is accurately captured using the sensor of the hand tracking system and is used for virtual object control, thus achieving interaction that enhances immersion. A VR application was designed with the purpose of testing the immersion and presence aspects of the proposed system. Lastly, technical and statistical tests were carried out to assess whether the proposed haptic system can provide a new immersive presence to users. According to the results of the presence questionnaire and the simulator sickness questionnaire, we confirmed that the proposed hand haptic system, in comparison to the existing interaction that uses only the hand tracking system, provided greater presence and a more immersive environment in the virtual reality.

Absence of modulatory action on haptic height perception with musical pitch

PubMed Central

Geronazzo, Michele; Avanzini, Federico; Grassi, Massimo

2015-01-01

Although acoustic frequency is not a spatial property of physical objects, in common language, pitch, i.e., the psychological correlated of frequency, is often labeled spatially (i.e., “high in pitch” or “low in pitch”). Pitch-height is known to modulate (and interact with) the response of participants when they are asked to judge spatial properties of non-auditory stimuli (e.g., visual) in a variety of behavioral tasks. In the current study we investigated whether the modulatory action of pitch-height extended to the haptic estimation of height of a virtual step. We implemented a HW/SW setup which is able to render virtual 3D objects (stair-steps) haptically through a PHANTOM device, and to provide real-time continuous auditory feedback depending on the user interaction with the object. The haptic exploration was associated with a sinusoidal tone whose pitch varied as a function of the interaction point's height within (i) a narrower and (ii) a wider pitch range, or (iii) a random pitch variation acting as a control audio condition. Explorations were also performed with no sound (haptic only). Participants were instructed to explore the virtual step freely, and to communicate height estimation by opening their thumb and index finger to mimic the step riser height, or verbally by reporting the height in centimeters of the step riser. We analyzed the role of musical expertise by dividing participants into non-musicians and musicians. Results showed no effects of musical pitch on high-realistic haptic feedback. Overall there is no difference between the two groups in the proposed multimodal conditions. Additionally, we observed a different haptic response distribution between musicians and non-musicians when estimations of the auditory conditions are matched with estimations in the no sound condition. PMID:26441745

Ascending and Descending in Virtual Reality: Simple and Safe System Using Passive Haptics.

PubMed

Nagao, Ryohei; Matsumoto, Keigo; Narumi, Takuji; Tanikawa, Tomohiro; Hirose, Michitaka

2018-04-01

This paper presents a novel interactive system that provides users with virtual reality (VR) experiences, wherein users feel as if they are ascending/descending stairs through passive haptic feedback. The passive haptic stimuli are provided by small bumps under the feet of users; these stimuli are provided to represent the edges of the stairs in the virtual environment. The visual stimuli of the stairs and shoes, provided by head-mounted displays, evoke a visuo-haptic interaction that modifies a user's perception of the floor shape. Our system enables users to experience all types of stairs, such as half-turn and spiral stairs, in a VR setting. We conducted a preliminary user study and two experiments to evaluate the proposed technique. The preliminary user study investigated the effectiveness of the basic idea associated with the proposed technique for the case of a user ascending stairs. The results demonstrated that the passive haptic feedback produced by the small bumps enhanced the user's feeling of presence and sense of ascending. We subsequently performed an experiment to investigate an improved viewpoint manipulation method and the interaction of the manipulation and haptics for both the ascending and descending cases. The experimental results demonstrated that the participants had a feeling of presence and felt a steep stair gradient under the condition of haptic feedback and viewpoint manipulation based on the characteristics of actual stair walking data. However, these results also indicated that the proposed system may not be as effective in providing a sense of descending stairs without an optimization of the haptic stimuli. We then redesigned the shape of the small bumps, and evaluated the design in a second experiment. The results indicated that the best shape to present haptic stimuli is a right triangle cross section in both the ascending and descending cases. Although it is necessary to install small protrusions in the determined direction, by using this optimized shape the users feeling of presence of the stairs and the sensation of walking up and down was enhanced.

Mental rotation of tactile stimuli: using directional haptic cues in mobile devices.

PubMed

Gleeson, Brian T; Provancher, William R

2013-01-01

Haptic interfaces have the potential to enrich users' interactions with mobile devices and convey information without burdening the user's visual or auditory attention. Haptic stimuli with directional content, for example, navigational cues, may be difficult to use in handheld applications; the user's hand, where the cues are delivered, may not be aligned with the world, where the cues are to be interpreted. In such a case, the user would be required to mentally transform the stimuli between different reference frames. We examine the mental rotation of directional haptic stimuli in three experiments, investigating: 1) users' intuitive interpretation of rotated stimuli, 2) mental rotation of haptic stimuli about a single axis, and 3) rotation about multiple axes and the effects of specific hand poses and joint rotations. We conclude that directional haptic stimuli are suitable for use in mobile applications, although users do not naturally interpret rotated stimuli in any one universal way. We find evidence of cognitive processes involving the rotation of analog, spatial representations and discuss how our results fit into the larger body of mental rotation research. For small angles (e.g., less than 40 degree), these mental rotations come at little cost, but rotations with larger misalignment angles impact user performance. When considering the design of a handheld haptic device, our results indicate that hand pose must be carefully considered, as certain poses increase the difficulty of stimulus interpretation. Generally, all tested joint rotations impact task difficulty, but finger flexion and wrist rotation interact to greatly increase the cost of stimulus interpretation; such hand poses should be avoided when designing a haptic interface.

Multimodal Interaction with Speech, Gestures and Haptic Feedback in a Media Center Application

NASA Astrophysics Data System (ADS)

Turunen, Markku; Hakulinen, Jaakko; Hella, Juho; Rajaniemi, Juha-Pekka; Melto, Aleksi; Mäkinen, Erno; Rantala, Jussi; Heimonen, Tomi; Laivo, Tuuli; Soronen, Hannu; Hansen, Mervi; Valkama, Pellervo; Miettinen, Toni; Raisamo, Roope

We demonstrate interaction with a multimodal media center application. Mobile phone-based interface includes speech and gesture input and haptic feedback. The setup resembles our long-term public pilot study, where a living room environment containing the application was constructed inside a local media museum allowing visitors to freely test the system.

Regulation of Dab2 expression in intestinal and renal epithelia by development.

PubMed

Vázquez-Carretero, María D; García-Miranda, Pablo; Calonge, María L; Peral, María J; Ilundáin, Anunciación A

2011-01-01

Disabled-2 (Dab2) is an intracellular adaptor protein proposed to function in endocytosis. Here, we investigate the intestinal and renal Dab2 expression versus maturation. Dab2 mRNA levels measured by RT-PCR are greater in the small than in the large intestine. Immunological studies localize Dab2 to the terminal web domain of the enterocytes and reveal the presence of a 96-kDa Dab2 isoform in the apical membrane of the jejunum, ileum, and renal cortex of the suckling and adult rat. A 69-kDa Dab2 isoform is only observed in the apical membranes of the suckling ileum. During the suckling period, the Dab2 mRNA levels measured in the enterocytes and crypts and those of the 96-kDa Dab2 isoform are greater in the ileum than in the jejunum. No segmental differences are observed in the adult intestine. In the intestine, the levels of Dab2 mRNA and those of the 96-kDa Dab2 isoform decrease to adult values at weaning, whereas in the kidney they increase with development. Weaning the pups on a commercial milk diet slows the periweaning decline in the levels of Dab2 mRNA in the crypts and of those of the 96-kDa isoform. This is the first report showing that the 96-kDa Dab2 isoform is expressed at the apical domain of rat small intestine, that ontogeny regulates Dab2 gene expression in intestine and kidney and that retarding weaning affects intestinal Dab2 gene expression.

Interactions and encapsulation of vitamins C, B3, and B6 with dendrimers in water.

PubMed

Boisselier, Elodie; Liang, Liyuan; Dalko-Csiba, Maria; Ruiz, Jaime; Astruc, Didier

2010-05-25

Titrations of commercial diaminobutane (DAB) and polyamidoamine (PAMAM) dendrimers by vitamins C (ascorbic acid, AA), B(3) (nicotinic acid), and B(6) (pyridoxine) were monitored by (1)H NMR spectroscopy using the chemical shifts of both dendrimer and vitamin protons and analyzed by comparison with the titration of propylamine. Quaternarizations of the terminal primary amino groups and intradendritic tertiary amino groups, which are nearly quantitative with vitamin C, were characterized by more or less sharp variations (Deltadelta) of the (1)H chemical shift (delta) at the equivalence points. The peripheral primary amino groups of the DAB dendrimers were quaternarized first, but not selectively, whereas a sharp chemical-shift variation was recorded for the inner methylene protons near the tertiary amines, thereby indicating encapsulation, when all the dendritic amines were quaternarized. With DAB-G5-64-NH(2), some excess acid is required to protonate the inner amino groups, presumably because of basicity decrease due to excess charge repulsion. On the other hand, this selectivity was not observed with PAMAM dendrimers. The special case of the titration of the dendrimers by vitamin B(6) indicates only dominant supramolecular hydrogen-bonding interactions and no quaternarization, with core amino groups being privileged, which indicates the strong tendency to encapsulate vitamins. With vitamin B(3), a carboxylic acid, titration of DAB-G3-16-NH(2) shows that only six peripheral amino groups are protonated on average, even with excess vitamin B(3), because protonation is all the more difficult due to increased charge repulsion, as positive charges accumulate around the dendrimer. Inner amino groups interact with this vitamin, however, thus indicating encapsulation presumably with supramolecular hydrogen bonding without much charge transfer.

Role of combined tactile and kinesthetic feedback in minimally invasive surgery.

PubMed

Lim, Soo-Chul; Lee, Hyung-Kew; Park, Joonah

2014-10-18

Haptic feedback is of critical importance in surgical tasks. However, conventional surgical robots do not provide haptic feedback to surgeons during surgery. Thus, in this study, a combined tactile and kinesthetic feedback system was developed to provide haptic feedback to surgeons during robotic surgery. To assess haptic feasibility, the effects of two types of haptic feedback were examined empirically - kinesthetic and tactile feedback - to measure object-pulling force with a telesurgery robotics system at two desired pulling forces (1 N and 2 N). Participants answered a set of questionnaires after experiments. The experimental results reveal reductions in force error (39.1% and 40.9%) when using haptic feedback during 1 N and 2 N pulling tasks. Moreover, survey analyses show the effectiveness of the haptic feedback during teleoperation. The combined tactile and kinesthetic feedback of the master device in robotic surgery improves the surgeon's ability to control the interaction force applied to the tissue. Copyright © 2014 John Wiley & Sons, Ltd. Copyright © 2014 John Wiley & Sons, Ltd.

Effective ingredients of verbal de-escalation: validating an English modified version of the 'De-Escalating Aggressive Behaviour Scale'.

PubMed

Mavandadi, V; Bieling, P J; Madsen, V

2016-08-01

WHAT IS KNOWN ON THE SUBJECT?: Verbal de-escalation is an intervention aimed at calmly managing an agitated client to prevent violence. Effective de-escalation can help reduce the use of seclusion and restraint in psychiatric settings. Despite its importance in practice, there is little agreement on the necessary techniques of de-escalation and most of the research on the topic is based on expert opinion. To our knowledge, only one attempt at quantifying de-escalation skill has been pursued through the German-language De-Escalating Aggressive Behaviour Scale (DABS). While the DABS identified seven qualities necessary for de-escalation, it has not been validated in English and may lack important descriptors. WHAT THIS PAPER ADDS TO EXISTING KNOWLEDGE?: The present study enhanced the original DABS with best, acceptable and least desirable staff de-escalation practice descriptions for each of the seven items. This enhancement of the DABS lead to the creation of the English modified DABS (EMDABS). The EMDABS was psychometrically validated for use in research and practice: raters could use the EMDABS with a high level of agreement and consistency. Also, the scale appeared to measure a single cohesive construct - de-escalation. WHAT ARE THE IMPLICATIONS FOR PRACTICE?: With further validation, the EMDABS has potential to be the first English quantitative measure of de-escalation. The EMDABS offers seven items, with associated best practice descriptions, that may be used to inform de-escalation practice. The EMDABS can be used to evaluate training and education programmes and inform how these programmes and independent de-escalation practice may be improved. Introduction Verbal de-escalation is crucial to a non-coercive psychiatric environment. Despite its importance, the literature on de-escalation is sparse and mostly qualitative. To address this, Nau et al. (2009) quantified de-escalation by creating the German-language De-Escalating Aggressive Behaviour Scale (DABS). The DABS provides seven skills necessary for de-escalation, however it has not been validated in English and lacks the necessary anchor descriptions to make it useful. Aim To modify the DABS to include descriptions of best, acceptable and least desirable staff practice and to validate the English modified DABS (EMDABS). Method To develop item descriptions for the EMDABS, 50 conflictual staff-patient interactions were reviewed, summarized and cross-referenced with the literature (n = 19). Three raters then used the EMDABS to evaluate 272 simulations depicting these interactions. Results The EMDABS demonstrated very good inter-rater reliability [ICC (3, 1) = 0.752] and strong internal consistency (α = 0.901). A factor analysis revealed that the seven items were best represented by a single factor. Discussion The EMDABS was validated for future use in research and practice. Additional validation and future research directions are discussed. Implications for practice The EMDABS holds promise as a quantitative measure of de-escalation. Its seven items and best practice guidelines have clinical implications for improving practice and training. © 2016 John Wiley & Sons Ltd.

Overview Electrotactile Feedback for Enhancing Human Computer Interface

NASA Astrophysics Data System (ADS)

Pamungkas, Daniel S.; Caesarendra, Wahyu

2018-04-01

To achieve effective interaction between a human and a computing device or machine, adequate feedback from the computing device or machine is required. Recently, haptic feedback is increasingly being utilised to improve the interactivity of the Human Computer Interface (HCI). Most existing haptic feedback enhancements aim at producing forces or vibrations to enrich the user’s interactive experience. However, these force and/or vibration actuated haptic feedback systems can be bulky and uncomfortable to wear and only capable of delivering a limited amount of information to the user which can limit both their effectiveness and the applications they can be applied to. To address this deficiency, electrotactile feedback is used. This involves delivering haptic sensations to the user by electrically stimulating nerves in the skin via electrodes placed on the surface of the skin. This paper presents a review and explores the capability of electrotactile feedback for HCI applications. In addition, a description of the sensory receptors within the skin for sensing tactile stimulus and electric currents alsoseveral factors which influenced electric signal to transmit to the brain via human skinare explained.

Telerobotic Haptic Exploration in Art Galleries and Museums for Individuals with Visual Impairments.

PubMed

Park, Chung Hyuk; Ryu, Eun-Seok; Howard, Ayanna M

2015-01-01

This paper presents a haptic telepresence system that enables visually impaired users to explore locations with rich visual observation such as art galleries and museums by using a telepresence robot, a RGB-D sensor (color and depth camera), and a haptic interface. The recent improvement on RGB-D sensors has enabled real-time access to 3D spatial information in the form of point clouds. However, the real-time representation of this data in the form of tangible haptic experience has not been challenged enough, especially in the case of telepresence for individuals with visual impairments. Thus, the proposed system addresses the real-time haptic exploration of remote 3D information through video encoding and real-time 3D haptic rendering of the remote real-world environment. This paper investigates two scenarios in haptic telepresence, i.e., mobile navigation and object exploration in a remote environment. Participants with and without visual impairments participated in our experiments based on the two scenarios, and the system performance was validated. In conclusion, the proposed framework provides a new methodology of haptic telepresence for individuals with visual impairments by providing an enhanced interactive experience where they can remotely access public places (art galleries and museums) with the aid of haptic modality and robotic telepresence.

Size-Sensitive Perceptual Representations Underlie Visual and Haptic Object Recognition

PubMed Central

Craddock, Matt; Lawson, Rebecca

2009-01-01

A variety of similarities between visual and haptic object recognition suggests that the two modalities may share common representations. However, it is unclear whether such common representations preserve low-level perceptual features or whether transfer between vision and haptics is mediated by high-level, abstract representations. Two experiments used a sequential shape-matching task to examine the effects of size changes on unimodal and crossmodal visual and haptic object recognition. Participants felt or saw 3D plastic models of familiar objects. The two objects presented on a trial were either the same size or different sizes and were the same shape or different but similar shapes. Participants were told to ignore size changes and to match on shape alone. In Experiment 1, size changes on same-shape trials impaired performance similarly for both visual-to-visual and haptic-to-haptic shape matching. In Experiment 2, size changes impaired performance on both visual-to-haptic and haptic-to-visual shape matching and there was no interaction between the cost of size changes and direction of transfer. Together the unimodal and crossmodal matching results suggest that the same, size-specific perceptual representations underlie both visual and haptic object recognition, and indicate that crossmodal memory for objects must be at least partly based on common perceptual representations. PMID:19956685

Prevailing Trends in Haptic Feedback Simulation for Minimally Invasive Surgery.

PubMed

Pinzon, David; Byrns, Simon; Zheng, Bin

2016-08-01

Background The amount of direct hand-tool-tissue interaction and feedback in minimally invasive surgery varies from being attenuated in laparoscopy to being completely absent in robotic minimally invasive surgery. The role of haptic feedback during surgical skill acquisition and its emphasis in training have been a constant source of controversy. This review discusses the major developments in haptic simulation as they relate to surgical performance and the current research questions that remain unanswered. Search Strategy An in-depth review of the literature was performed using PubMed. Results A total of 198 abstracts were returned based on our search criteria. Three major areas of research were identified, including advancements in 1 of the 4 components of haptic systems, evaluating the effectiveness of haptic integration in simulators, and improvements to haptic feedback in robotic surgery. Conclusions Force feedback is the best method for tissue identification in minimally invasive surgery and haptic feedback provides the greatest benefit to surgical novices in the early stages of their training. New technology has improved our ability to capture, playback and enhance to utility of haptic cues in simulated surgery. Future research should focus on deciphering how haptic training in surgical education can increase performance, safety, and improve training efficiency. © The Author(s) 2016.

A Haptic-Enhanced System for Molecular Sensing

NASA Astrophysics Data System (ADS)

Comai, Sara; Mazza, Davide

The science of haptics has received an enormous attention in the last decade. One of the major application trends of haptics technology is data visualization and training. In this paper, we present a haptically-enhanced system for manipulation and tactile exploration of molecules.The geometrical models of molecules is extracted either from theoretical or empirical data using file formats widely adopted in chemical and biological fields. The addition of information computed with computational chemistry tools, allows users to feel the interaction forces between an explored molecule and a charge associated to the haptic device, and to visualize a huge amount of numerical data in a more comprehensible way. The developed tool can be used either for teaching or research purposes due to its high reliance on both theoretical and experimental data.

Displays of dabbing marijuana extracts on YouTube.

PubMed

Krauss, Melissa J; Sowles, Shaina J; Mylvaganam, Shalinee; Zewdie, Kidist; Bierut, Laura J; Cavazos-Rehg, Patricia A

2015-10-01

Dabbing involves heating marijuana extracts to a high temperature and inhaling the vapor. Little is known about this new method of using marijuana. YouTube, the most popular platform for sharing online videos, may be a go-to resource for individuals interested in learning about dabbing. Our objective was to explore the content of dabbing-related videos on YouTube. We searched for dabbing-related videos on YouTube using the search terms "dabbing" and "dabs" on January 22, 2015. For each term, videos were sorted by relevance and view count. A sample of 116 dabbing videos were viewed and coded for content. The 116 videos (published by 75 unique channels) had a total of 9,545,482 views. Most (76%) of the channels had a specific focus on marijuana and 23% were located in California. Eighty-nine percent of the videos showed at least one person dabbing, and 61% of these showed someone dabbing repeatedly. Most dabbers were male (67%) and many appeared to be >25 years old (42%). Approximately 34% of the videos contained a product review, 28% provided instructions on dabbing or other educational information, and 21% contained at least a brief cautionary message. Over half (54%) of the videos referenced medical marijuana, and only 20% of the videos had an age-restriction. Dabbing-related videos are easily found and can be readily viewed on YouTube. As marijuana use becomes more accepted by the general population, the popularity of dabbing-related videos could increase, potentially normalizing this potent form of marijuana use. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Neurosurgery simulation using non-linear finite element modeling and haptic interaction

NASA Astrophysics Data System (ADS)

Lee, Huai-Ping; Audette, Michel; Joldes, Grand R.; Enquobahrie, Andinet

2012-02-01

Real-time surgical simulation is becoming an important component of surgical training. To meet the realtime requirement, however, the accuracy of the biomechancial modeling of soft tissue is often compromised due to computing resource constraints. Furthermore, haptic integration presents an additional challenge with its requirement for a high update rate. As a result, most real-time surgical simulation systems employ a linear elasticity model, simplified numerical methods such as the boundary element method or spring-particle systems, and coarse volumetric meshes. However, these systems are not clinically realistic. We present here an ongoing work aimed at developing an efficient and physically realistic neurosurgery simulator using a non-linear finite element method (FEM) with haptic interaction. Real-time finite element analysis is achieved by utilizing the total Lagrangian explicit dynamic (TLED) formulation and GPU acceleration of per-node and per-element operations. We employ a virtual coupling method for separating deformable body simulation and collision detection from haptic rendering, which needs to be updated at a much higher rate than the visual simulation. The system provides accurate biomechancial modeling of soft tissue while retaining a real-time performance with haptic interaction. However, our experiments showed that the stability of the simulator depends heavily on the material property of the tissue and the speed of colliding objects. Hence, additional efforts including dynamic relaxation are required to improve the stability of the system.

Sensorimotor Interactions in the Haptic Perception of Virtual Objects

DTIC Science & Technology

1997-01-01

the human user. 2 Compared to our understanding of vision and audition , our knowledge of the human haptic perception is very limited. Many basic...modalities such as vision and audition on haptic perception of viscosity or mass, for example. 116 Some preliminary work has already been done in this...string[3]; *posx="x" *forf="f’ *velv="v" * acca ="a" trial[64]; resp[64]; /* random number */ /* trial number */ /* index */ /* array holding stim

Force Sensitive Handles and Capacitive Touch Sensor for Driving a Flexible Haptic-Based Immersive System

PubMed Central

Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto

2013-01-01

In this article, we present an approach that uses both two force sensitive handles (FSH) and a flexible capacitive touch sensor (FCTS) to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object. Specifically, the user interacts with the FSH to move the virtual object and to appropriately position the haptic interface for retrieving the six degrees of freedom required for both manipulation and modification modalities. The FCTS allows the system to track the movement and position of the user's fingers on the strip, which is used for rendering visual and sound feedback. Two evaluation experiments are described, which involve both the evaluation and the modification of a 3D shape. Results show that the use of the haptic strip for the evaluation of aesthetic shapes is effective and supports product designers in the appreciation of the aesthetic qualities of the shape. PMID:24113680

Force sensitive handles and capacitive touch sensor for driving a flexible haptic-based immersive system.

PubMed

Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto

2013-10-09

In this article, we present an approach that uses both two force sensitive handles (FSH) and a flexible capacitive touch sensor (FCTS) to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object. Specifically, the user interacts with the FSH to move the virtual object and to appropriately position the haptic interface for retrieving the six degrees of freedom required for both manipulation and modification modalities. The FCTS allows the system to track the movement and position of the user's fingers on the strip, which is used for rendering visual and sound feedback. Two evaluation experiments are described, which involve both the evaluation and the modification of a 3D shape. Results show that the use of the haptic strip for the evaluation of aesthetic shapes is effective and supports product designers in the appreciation of the aesthetic qualities of the shape.

A new method of cannabis ingestion: the dangers of dabs?

PubMed

Loflin, Mallory; Earleywine, Mitch

2014-10-01

A new method for administering cannabinoids, called butane hash oil ("dabs"), is gaining popularity among marijuana users. Despite press reports that suggest that "dabbing" is riskier than smoking flower cannabis, no data address whether dabs users experience more problems from use than those who prefer flower cannabis. The present study aimed to gather preliminary information on dabs users and test whether dabs use is associated with more problems than using flower cannabis. Participants (n=357) reported on their history of cannabis use, their experience with hash oil and the process of "dabbing," reasons for choosing "dabs" over other methods, and any problems related to both flower cannabis and butane hash oil. Analyses revealed that using "dabs" created no more problems or accidents than using flower cannabis. Participants did report that "dabs" led to higher tolerance and withdrawal (as defined by the participants), suggesting that the practice might be more likely to lead to symptoms of addiction or dependence. The use of butane hash oil has spread outside of the medical marijuana community, and users view it as significantly more dangerous than other forms of cannabis use. Published by Elsevier Ltd.

Haptic Foot Pedal: Influence of Shoe Type, Age, and Gender on Subjective Pulse Perception.

PubMed

Geitner, Claudia; Birrell, Stewart; Krehl, Claudia; Jennings, Paul

2018-06-01

This study investigates the influence of shoe type (sneakers and safety boots), age, and gender on the perception of haptic pulse feedback provided by a prototype accelerator pedal in a running stationary vehicle. Haptic feedback can be a less distracting alternative to traditionally visual and auditory in-vehicle feedback. However, to be effective, the device delivering the haptic feedback needs to be in contact with the person. Factors such as shoe type vary naturally over the season and could render feedback that is perceived well in one situation, unnoticeable in another. In this study, we evaluate factors that can influence the subjective perception of haptic feedback in a stationary but running car: shoe type, age, and gender. Thirty-six drivers within three age groups (≤39, 40-59, and ≥60) took part. For each haptic feedback, participants rated intensity, urgency, and comfort via a questionnaire. The perception of the haptic feedback is significantly influenced by the interaction between the pulse's duration and force amplitude and the participant's age and gender but not shoe type. The results indicate that it is important to consider different age groups and gender in the evaluation of haptic feedback. Future research might also look into approaches to adapt haptic feedback to the individual driver's preferences. Findings from this study can be applied to the design of an accelerator pedal in a car, for example, for a nonvisual in-vehicle warning, but also to plan user studies with a haptic pedal in general.

Dynamics modeling for parallel haptic interfaces with force sensing and control.

PubMed

Bernstein, Nicholas; Lawrence, Dale; Pao, Lucy

2013-01-01

Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation.

fMRI-Compatible Electromagnetic Haptic Interface.

PubMed

Riener, R; Villgrattner, T; Kleiser, R; Nef, T; Kollias, S

2005-01-01

A new haptic interface device is suggested, which can be used for functional magnetic resonance imaging (fMRI) studies. The basic component of this 1 DOF haptic device are two coils that produce a Lorentz force induced by the large static magnetic field of the MR scanner. A MR-compatible optical angular encoder and a optical force sensor enable the implementation of different control architectures for haptic interactions. The challenge was to provide a large torque, and not to affect image quality by the currents applied in the device. The haptic device was tested in a 3T MR scanner. With a current of up to 1A and a distance of 1m to the focal point of the MR-scanner it was possible to generate torques of up to 4 Nm. Within these boundaries image quality was not affected.

Assessment of Haptic Interaction for Home-Based Physical Tele-Therapy using Wearable Devices and Depth Sensors.

PubMed

Barmpoutis, Angelos; Alzate, Jose; Beekhuizen, Samantha; Delgado, Horacio; Donaldson, Preston; Hall, Andrew; Lago, Charlie; Vidal, Kevin; Fox, Emily J

2016-01-01

In this paper a prototype system is presented for home-based physical tele-therapy using a wearable device for haptic feedback. The haptic feedback is generated as a sequence of vibratory cues from 8 vibrator motors equally spaced along an elastic wearable band. The motors guide the patients' movement as they perform a prescribed exercise routine in a way that replaces the physical therapists' haptic guidance in an unsupervised or remotely supervised home-based therapy session. A pilot study of 25 human subjects was performed that focused on: a) testing the capability of the system to guide the users in arbitrary motion paths in the space and b) comparing the motion of the users during typical physical therapy exercises with and without haptic-based guidance. The results demonstrate the efficacy of the proposed system.

Haptic Technologies for MEMS Design

NASA Astrophysics Data System (ADS)

Calis, Mustafa; Desmulliez, Marc P. Y.

2006-04-01

This paper presents for the first time a design methodology for MEMS/NEMS based on haptic sensing technologies. The software tool created as a result of this methodology will enable designers to model and interact in real time with their virtual prototype. One of the main advantages of haptic sensing is the ability to bring unusual microscopic forces back to the designer's world. Other significant benefits for developing such a methodology include gain productivity and the capability to include manufacturing costs within the design cycle.

Design and Calibration of a New 6 DOF Haptic Device

PubMed Central

Qin, Huanhuan; Song, Aiguo; Liu, Yuqing; Jiang, Guohua; Zhou, Bohe

2015-01-01

For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed. PMID:26690449

A haptic pedal for surgery assistance.

PubMed

Díaz, Iñaki; Gil, Jorge Juan; Louredo, Marcos

2014-09-01

The research and development of mechatronic aids for surgery is a persistent challenge in the field of robotic surgery. This paper presents a new haptic pedal conceived to assist surgeons in the operating room by transmitting real-time surgical information through the foot. An effective human-robot interaction system for medical practice must exchange appropriate information with the operator as quickly and accurately as possible. Moreover, information must flow through the appropriate sensory modalities for a natural and simple interaction. However, users of current robotic systems might experience cognitive overload and be increasingly overwhelmed by data streams from multiple modalities. A new haptic channel is thus explored to complement and improve existing systems. A preliminary set of experiments has been carried out to evaluate the performance of the proposed system in a virtual surgical drilling task. The results of the experiments show the effectiveness of the haptic pedal in providing surgical information through the foot. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Thermoelectric effect in Aharonov-Bohm structures.

PubMed

Lu, Xin; Wang, Jian-Sheng; Morrel, William G; Ni, Xiaoxi; Wu, Chang-Qin; Li, Baowen

2015-01-28

The thermoelectric effects of a single Aharonov-Bohm (SAB) ring and coupled double Aharonov-Bohm (DAB) rings have been investigated on a theoretical basis, taking into account the contributions of both electrons and phonons to the transport process by using the nonequilibrium Green's function technique. The thermoelectric figure of merit of the coupled DAB rings cannot be predicted directly by combining the values of two SAB ring systems due to the contribution of electron-phonon interaction to coupling between the two sites connecting the rings. We find that thermoelectric efficiency can be optimized by modulating the phases of the magnetic flux threading the two rings.

A Multi-Finger Interface with MR Actuators for Haptic Applications.

PubMed

Qin, Huanhuan; Song, Aiguo; Gao, Zhan; Liu, Yuqing; Jiang, Guohua

2018-01-01

Haptic devices with multi-finger input are highly desirable in providing realistic and natural feelings when interacting with the remote or virtual environment. Compared with the conventional actuators, MR (Magneto-rheological) actuators are preferable options in haptics because of larger passive torque and torque-volume ratios. Among the existing haptic MR actuators, most of them are still bulky and heavy. If they were smaller and lighter, they would become more suitable for haptics. In this paper, a small-scale yet powerful MR actuator was designed to build a multi-finger interface for the 6 DOF haptic device. The compact structure was achieved by adopting the multi-disc configuration. Based on this configuration, the MR actuator can generate the maximum torque of 480 N.mm with dimensions of only 36 mm diameter and 18 mm height. Performance evaluation showed that it can exhibit a relatively high dynamic range and good response characteristics when compared with some other haptic MR actuators. The multi-finger interface is equipped with three MR actuators and can provide up to 8 N passive force to the thumb, index and middle fingers, respectively. An application example was used to demonstrate the effectiveness and potential of this new MR actuator based interface.

BMAL1 facilitates trophoblast migration and invasion via SP1-DNMT1/DAB2IP pathway in recurrent spontaneous abortion

PubMed Central

Li, Shang; Zhai, Junyu; Liu, Jiansheng; Hong, Yan; Zhao, Weixiu; Zhao, Aimin; Sun, Kang; Du, Yanzhi; Chen, Zi-Jiang

2017-01-01

The underlying mechanism about rhythms and epigenetics leading to aberrant trophoblast migration and invasion in recurrent spontaneous abortion (RSA) remains unknown. Brain and muscle ARNT-like protein 1 (BMAL1) is considered as a crucial role in fertility, and polymorphism of BMAL1 gene has been reported to be associated with risk of miscarriage. However, the functional role of BMAL1 in RSA is not fully understood. Previous study shows the descended expression of DNA 5′-cytosine-methyltransferases 1 (DNMT1) in the villous of early pregnancy loss. Thus, understanding of the regulation of DNMT1 expression may be of significance for the elucidation of the process of RSA. Using HTR-8/SVneo and JEG-3 cell lines, we certified the induction of specificity protein 1 (SP1) to DNMT1 and DAB2 interaction protein (DAB2IP), respectively, both of which further activated matrix metallo-proteinase 2/9 (MMP2/9), bringing out changes in trophoblast migration and invasion. Notably, BMAL1 functioned as a positive upstream factor of SP1 only in HTR-8/SVneo cells but not in JEG-3 cells, inducing SP1-DNMT1/DAB2IP pathway and facilitating migration and invasion of trophoblasts. In addition, progesterone might restore the down-regulation of BMAL1 and downstream pathway in a dose-dependent manner. Last but not least, the decreased abundance of BMAL1 was correlated positively with that of SP1, DNMT1, DAB2IP, MMP2 and MMP9 in human villous specimens of RSA. Our results demonstrate that the induction of BMAL1 to SP1 contributes to the expression of DNMT1 and DAB2IP, respectively, activating trophoblast migration and invasion. The deregulation of the BMAL1-mediated pathway in RSA can be rescued by progesterone. PMID:29163762

Mixed reality temporal bone surgical dissector: mechanical design.

PubMed

Hochman, Jordan Brent; Sepehri, Nariman; Rampersad, Vivek; Kraut, Jay; Khazraee, Milad; Pisa, Justyn; Unger, Bertram

2014-08-08

The Development of a Novel Mixed Reality (MR) Simulation. An evolving training environment emphasizes the importance of simulation. Current haptic temporal bone simulators have difficulty representing realistic contact forces and while 3D printed models convincingly represent vibrational properties of bone, they cannot reproduce soft tissue. This paper introduces a mixed reality model, where the effective elements of both simulations are combined; haptic rendering of soft tissue directly interacts with a printed bone model. This paper addresses one aspect in a series of challenges, specifically the mechanical merger of a haptic device with an otic drill. This further necessitates gravity cancelation of the work assembly gripper mechanism. In this system, the haptic end-effector is replaced by a high-speed drill and the virtual contact forces need to be repositioned to the drill tip from the mid wand. Previous publications detail generation of both the requisite printed and haptic simulations. Custom software was developed to reposition the haptic interaction point to the drill tip. A custom fitting, to hold the otic drill, was developed and its weight was offset using the haptic device. The robustness of the system to disturbances and its stable performance during drilling were tested. The experiments were performed on a mixed reality model consisting of two drillable rapid-prototyped layers separated by a free-space. Within the free-space, a linear virtual force model is applied to simulate drill contact with soft tissue. Testing illustrated the effectiveness of gravity cancellation. Additionally, the system exhibited excellent performance given random inputs and during the drill's passage between real and virtual components of the model. No issues with registration at model boundaries were encountered. These tests provide a proof of concept for the initial stages in the development of a novel mixed-reality temporal bone simulator.

Do Haptic Representations Help Complex Molecular Learning?

ERIC Educational Resources Information Center

Bivall, Petter; Ainsworth, Shaaron; Tibell, Lena A. E.

2011-01-01

This study explored whether adding a haptic interface (that provides users with somatosensory information about virtual objects by force and tactile feedback) to a three-dimensional (3D) chemical model enhanced students' understanding of complex molecular interactions. Two modes of the model were compared in a between-groups pre- and posttest…

Displays of dabbing marijuana extracts on YouTube

PubMed Central

Krauss, Melissa J.; Sowles, Shaina J.; Mylvaganam, Shalinee; Zewdie, Kidist; Bierut, Laura J.; Cavazos-Rehg, Patricia A.

2015-01-01

Background Dabbing involves heating marijuana extracts to a high temperature and inhaling the vapor. Little is known about this new method of using marijuana. YouTube, the most popular platform for sharing online videos, may be a go-to resource for individuals interested in learning about dabbing. Our objective was to explore the content of dabbing-related videos on YouTube. Methods We searched for dabbing related videos on YouTube using the search terms “dabbing” and “dabs” on January 22, 2015. For each term, videos were sorted by relevance and view count. A sample of 116 dabbing videos were viewed and coded for content. Results The 116 videos (published by 75 unique channels) had a total of 9,545,482 views. Most (76%) of the channels had a specific focus on marijuana and 23% were located in California. 89% of the videos showed at least one person dabbing, and 61% of these showed someone dabbing repeatedly. Most dabbers were male (67%) and many appeared to be >25 years old (42%). Approximately 34% of the videos contained a product review, 28% provided instructions on dabbing or other educational information, and 21% contained at least a brief cautionary message. Over half (54%) of the videos referenced medical marijuana, and only 20% of the videos had an age restriction. Conclusions Dabbing-related videos are easily found and can be readily viewed on YouTube. As marijuana use becomes more accepted by the general population, the popularity of dabbing-related videos could increase, potentially normalizing this potent form of marijuana use. PMID:26347408

Sensitization of Radioresistant Prostate Cancer Cells by Resveratrol Isolated from Arachis hypogaea Stems.

PubMed

Chen, Yu-An; Lien, Hsiu-Man; Kao, Min-Chuan; Lo, U-Ging; Lin, Li-Chiung; Lin, Chun-Jung; Chang, Sheau-Jiun; Chen, Chia-Chang; Hsieh, Jer-Tsong; Lin, Ho; Tang, Chih-Hsin; Lai, Chih-Ho

2017-01-01

Resveratrol (RV, 3,4',5-trihydroxystilbene) is naturally produced by a wide variety of plants including grapes and peanuts (Arachis hypogaea). However, the yield of RV from peanut stem and its potential radiosensitizing effects in prostate cancer (PCa) have not been well investigated. In this study, we characterized RV in peanut stem extract (PSE) for the first time and showed that both RV and PSE dose-dependently induced cell death in DOC-2/DAB2 interactive protein (DAB2IP)-deficient PCa cells with the radioresistant phenotype. Furthermore, the combination of radiation with either RV or PSE induced the death of radioresistant PCa cells through delayed repair of radiation-induced DNA double-strand break (DSB) and prolonged G2/M arrest, which induced apoptosis. The administration of RV and PSE effectively enhanced radiation therapy in the shDAB2IP PCa xenograft mouse model. These results demonstrate the promising synergistic effect of RV and PSE combined with radiation in the treatment of radioresistant PCa.

Human eye haptics-based multimedia.

PubMed

Velandia, David; Uribe-Quevedo, Alvaro; Perez-Gutierrez, Byron

2014-01-01

Immersive and interactive multimedia applications offer complementary study tools in anatomy as users can explore 3D models while obtaining information about the organ, tissue or part being explored. Haptics increases the sense of interaction with virtual objects improving user experience in a more realistic manner. Common eye studying tools are books, illustrations, assembly models, and more recently these are being complemented with mobile apps whose 3D capabilities, computing power and customers are increasing. The goal of this project is to develop a complementary eye anatomy and pathology study tool using deformable models within a multimedia application, offering the students the opportunity for exploring the eye from up close and within with relevant information. Validation of the tool provided feedback on the potential of the development, along with suggestions on improving haptic feedback and navigation.

Does the Integration of Haptic and Visual Cues Reduce the Effect of a Biased Visual Reference Frame on the Subjective Head Orientation?

PubMed Central

Gueguen, Marc; Vuillerme, Nicolas; Isableu, Brice

2012-01-01

Background The selection of appropriate frames of reference (FOR) is a key factor in the elaboration of spatial perception and the production of robust interaction with our environment. The extent to which we perceive the head axis orientation (subjective head orientation, SHO) with both accuracy and precision likely contributes to the efficiency of these spatial interactions. A first goal of this study was to investigate the relative contribution of both the visual and egocentric FOR (centre-of-mass) in the SHO processing. A second goal was to investigate humans' ability to process SHO in various sensory response modalities (visual, haptic and visuo-haptic), and the way they modify the reliance to either the visual or egocentric FORs. A third goal was to question whether subjects combined visual and haptic cues optimally to increase SHO certainty and to decrease the FORs disruption effect. Methodology/Principal Findings Thirteen subjects were asked to indicate their SHO while the visual and/or egocentric FORs were deviated. Four results emerged from our study. First, visual rod settings to SHO were altered by the tilted visual frame but not by the egocentric FOR alteration, whereas no haptic settings alteration was observed whether due to the egocentric FOR alteration or the tilted visual frame. These results are modulated by individual analysis. Second, visual and egocentric FOR dependency appear to be negatively correlated. Third, the response modality enrichment appears to improve SHO. Fourth, several combination rules of the visuo-haptic cues such as the Maximum Likelihood Estimation (MLE), Winner-Take-All (WTA) or Unweighted Mean (UWM) rule seem to account for SHO improvements. However, the UWM rule seems to best account for the improvement of visuo-haptic estimates, especially in situations with high FOR incongruence. Finally, the data also indicated that FOR reliance resulted from the application of UWM rule. This was observed more particularly, in the visual dependent subject. Conclusions: Taken together, these findings emphasize the importance of identifying individual spatial FOR preferences to assess the efficiency of our interaction with the environment whilst performing spatial tasks. PMID:22509295

[DAB2IP expression in bladder transitional cell carcinoma and its correlation with clinical outcome].

PubMed

Zhu, Jian-Ning; Wu, Kai-Jie; Guan, Zhen-Feng; Liu, Li-Xia; Ning, Zhong-Yun; Zhou, Jian-Cheng; Wang, Xin-Yang; Fan, Jin-Hai

2014-07-01

To investigate the expression of DAB2IP in bladder transitional cell carcinoma (BTCC) and its correlation with clinical characteristics and prognosis of BTCC patients. Immunohistochemical staining was applied to detect DAB2IP protein level in 79 cases of TCCB tissues and 11 cases of normal bladder tissues, and the relationships of the staining results with pathological grade, stage, lymph node metastasis, gender, age and the 3-year survival rate of the patients were analyzed. The expression of DAB2IP in BTCC tissues was significantly lower than that in normal bladder epithelium, and the expression score and rate of DAB2IP in the high-grade, invasive and metastatic BTCC were significantly lower than those in low-grade, superficial and non-metastatic BTCC (P < 0.05). The 3-year survival rate of the patients with high DAB2IP expression was significantly higher than that of the patients with low DAB2IP expression. DAB2IP may be one of the important inhibitory factors during the occurrence and progression of BTCC.

The role of DAB2IP in androgen receptor activation during prostate cancer progression.

PubMed

Wu, K; Liu, J; Tseng, S-F; Gore, C; Ning, Z; Sharifi, N; Fazli, L; Gleave, M; Kapur, P; Xiao, G; Sun, X; Oz, O K; Min, W; Alexandrakis, G; Yang, C-R; Hsieh, C-L; Wu, H-C; He, D; Xie, D; Hsieh, J-T

2014-04-10

Altered androgen-receptor (AR) expression and/or constitutively active AR are commonly associated with prostate cancer (PCa) progression. Targeting AR remains a focal point for designing new strategy of PCa therapy. Here, we have shown that DAB2IP, a novel tumor suppressor in PCa, can inhibit AR-mediated cell growth and gene activation in PCa cells via distinct mechanisms. DAB2IP inhibits the genomic pathway by preventing AR nuclear translocation or phosphorylation and suppresses the non-genomic pathway via its unique functional domain to inactivate c-Src. Also, DAB2IP is capable of suppressing AR activation in an androgen-independent manner. In addition, DAB2IP can inhibit several AR splice variants showing constitutive activity in PCa cells. In DAB2IP(-/-) mice, the prostate gland exhibits hyperplastic epithelia, in which AR becomes more active. Consistently, DAB2IP expression inversely correlates with AR activation status particularly in recurrent or metastatic PCa patients. Taken together, DAB2IP is a unique intrinsic AR modulator in normal cells, and likely can be further developed into a therapeutic agent for PCa.

Validation of DAB2IP methylation and its relative significance in predicting outcome in renal cell carcinoma

PubMed Central

Zhao, Liang-Yun; Kapur, Payal; Wu, Kai-Jie; Wang, Bin; Yu, Yan-Hong; Liao, Bing; He, Da-Lin; Chen, Wei; Margulis, Vitaly; Hsieh, Jer-Tsong; Luo, Jun-Hang

2016-01-01

We have recently reported tumor suppressive role of DAB2IP in RCC development. In this study, We identified one CpG methylation biomarker (DAB2IP CpG1) located UTSS of DAB2IP that was associated with poor overall survival in a cohort of 318 ccRCC patients from the Cancer Genome Atlas (TCGA). We further validated the prognostic accuracy of DAB2IP CpG methylation by pyrosequencing quantitative methylation assay in 224 ccRCC patients from multiple Chinese centers (MCHC set), and 239 patients from University of Texas Southwestern Medical Center at Dallas (UTSW set) by using FFPE samples. DAB2IP CpG1 can predict the overall survival of patients in TCGA, MCHC, and UTSW sets independent of patient age, Fuhrman grade and TNM stage (all p<0.05). DAB2IP CpG1 successfully categorized patients into high-risk and low-risk groups with significant differences of clinical outcome in respective clinical subsets, regardless of age, sex, grade, stage, or race (HR: 1.63-7.83; all p<0.05). The detection of DAB2IP CpG1 methylation was minimally affected by ITH in ccRCC. DAB2IP mRNA expression was regulated by DNA methylation in vitro. DAB2IP CpG1 methylation is a practical and repeatable biomarker for ccRCC, which can provide prognostic value that complements the current staging system. PMID:27129174

miRNA-556-3p promotes human bladder cancer proliferation, migration and invasion by negatively regulating DAB2IP expression.

PubMed

Feng, Chen; Sun, Ping; Hu, Jing; Feng, Hua; Li, Mingqiu; Liu, Guibo; Pan, Yanming; Feng, Ying; Xu, Yongliang; Feng, Kejian; Feng, Yukuan

2017-06-01

MicroRNAs (miRNAs) play critical roles in tumorigenesis and metastasis by negatively regulating gene expression through complementary binding to the 3'-untranslated region of target mRNAs. The role of miRNAs in expression of the tumor suppressor DAB2IP in bladder cancer (BC) remains unknown. The aim of the present study was to identify miRNAs targeting DAB2IP and determine their expression and function in BC. We predicted candidate miRNAs targeting DAB2IP using TargetScan software. Dual-luciferase reporter assays confirmed that miRNA-556-3p directly regulated DAB2IP expression. Quantitative RT-PCR and RNase protection assays showed that endogenous miRNA-556-3p expression was significantly upregulated in clinical samples of BC patients and BC cell lines and western blot analysis indicated that DAB2IP expression in BC tissues and BC cell lines was concurrently downregulated. Gain or loss of function studies showed that upregulation of miRNA-556-3p promoted proliferation, invasion, migration and colony formation of BC cells, whereas downregulation resulted in opposite effects. Importantly, restoration of DAB2IP expression rescued the effects induced by miRNA-556-3p. Overexpression of miRNA-556-3p in BC cells not only decreased DAB2IP expression, but also markedly increased Ras GTPase activity and ERK1/2 phosphorylation level. These findings suggest that DAB2IP is a direct target of miRNA-556-3p, and endogenous miRNA-556-3p expression shows inverse correlation with simultaneous DAB2IP expression in BC tissues and cells. miRNA-556-3p functions as a tumor promoter in tumorigenesis and metastasis of BC by targeting DAB2IP. Moreover, miRNA-556-3p-mediated DAB2IP suppression plays an oncogenic role by partial activation of the Ras-ERK pathway.

1,4-Diamino-2-butanone, a wide-spectrum microbicide, yields reactive species by metal-catalyzed oxidation.

PubMed

Soares, Chrislaine O; Alves, Maria Julia M; Bechara, Etelvino J H

2011-06-15

The α-aminoketone 1,4-diamino-2-butanone (DAB), a putrescine analogue, is highly toxic to various microorganisms, including Trypanosoma cruzi. However, little is known about the molecular mechanisms underlying DAB's cytotoxic properties. We report here that DAB (pK(a) 7.5 and 9.5) undergoes aerobic oxidation in phosphate buffer, pH 7.4, at 37°C, catalyzed by Fe(II) and Cu(II) ions yielding NH(4)(+) ion, H(2)O(2), and 4-amino-2-oxobutanal (oxoDAB). OxoDAB, like methylglyoxal and other α-oxoaldehydes, is expected to cause protein aggregation and nucleobase lesions. Propagation of DAB oxidation by superoxide radical was confirmed by the inhibitory effect of added SOD (50 U ml-1) and stimulatory effect of xanthine/xanthine oxidase, a source of superoxide radical. EPR spin trapping studies with 5,5-dimethyl-1-pyrroline-1-oxide (DMPO) revealed an adduct attributable to DMPO-HO(•), and those with α-(4-pyridyl-1-oxide)-N-tert-butylnitrone or 3,5-dibromo-4-nitrosobenzenesulfonic acid, a six-line adduct assignable to a DAB(•) resonant enoyl radical adduct. Added horse spleen ferritin (HoSF) and bovine apo-transferrin underwent oxidative changes in tryptophan residues in the presence of 1.0-10 mM DAB. Iron release from HoSF was observed as well. Assays performed with fluorescein-encapsulated liposomes of cardiolipin and phosphatidylcholine (20:80) incubated with DAB resulted in extensive lipid peroxidation and consequent vesicle permeabilization. DAB (0-10 mM) administration to cultured LLC-MK2 epithelial cells caused a decline in cell viability, which was inhibited by preaddition of either catalase (4.5 μM) or aminoguanidine (25 mM). Our findings support the hypothesis that DAB toxicity to several pathogenic microorganisms previously described may involve not only reported inhibition of polyamine metabolism but also DAB pro-oxidant activity. Copyright © 2011 Elsevier Inc. All rights reserved.

Analysis of hand contact areas and interaction capabilities during manipulation and exploration.

PubMed

Gonzalez, Franck; Gosselin, Florian; Bachta, Wael

2014-01-01

Manual human-computer interfaces for virtual reality are designed to allow an operator interacting with a computer simulation as naturally as possible. Dexterous haptic interfaces are the best suited for this goal. They give intuitive and efficient control on the environment with haptic and tactile feedback. This paper is aimed at helping in the choice of the interaction areas to be taken into account in the design of such interfaces. The literature dealing with hand interactions is first reviewed in order to point out the contact areas involved in exploration and manipulation tasks. Their frequencies of use are then extracted from existing recordings. The results are gathered in an original graphical interaction map allowing for a simple visualization of the way the hand is used, and compared with a map of mechanoreceptors densities. Then an interaction tree, mapping the relative amount of actions made available through the use of a given contact area, is built and correlated with the losses of hand function induced by amputations. A rating of some existing haptic interfaces and guidelines for their design are finally achieved to illustrate a possible use of the developed graphical tools.

Shadow-driven 4D haptic visualization.

PubMed

Zhang, Hui; Hanson, Andrew

2007-01-01

Just as we can work with two-dimensional floor plans to communicate 3D architectural design, we can exploit reduced-dimension shadows to manipulate the higher-dimensional objects generating the shadows. In particular, by taking advantage of physically reactive 3D shadow-space controllers, we can transform the task of interacting with 4D objects to a new level of physical reality. We begin with a teaching tool that uses 2D knot diagrams to manipulate the geometry of 3D mathematical knots via their projections; our unique 2D haptic interface allows the user to become familiar with sketching, editing, exploration, and manipulation of 3D knots rendered as projected imageson a 2D shadow space. By combining graphics and collision-sensing haptics, we can enhance the 2D shadow-driven editing protocol to successfully leverage 2D pen-and-paper or blackboard skills. Building on the reduced-dimension 2D editing tool for manipulating 3D shapes, we develop the natural analogy to produce a reduced-dimension 3D tool for manipulating 4D shapes. By physically modeling the correct properties of 4D surfaces, their bending forces, and their collisions in the 3D haptic controller interface, we can support full-featured physical exploration of 4D mathematical objects in a manner that is otherwise far beyond the experience accessible to human beings. As far as we are aware, this paper reports the first interactive system with force-feedback that provides "4D haptic visualization" permitting the user to model and interact with 4D cloth-like objects.

Surgical model-view-controller simulation software framework for local and collaborative applications

PubMed Central

Sankaranarayanan, Ganesh; Halic, Tansel; Arikatla, Venkata Sreekanth; Lu, Zhonghua; De, Suvranu

2010-01-01

Purpose Surgical simulations require haptic interactions and collaboration in a shared virtual environment. A software framework for decoupled surgical simulation based on a multi-controller and multi-viewer model-view-controller (MVC) pattern was developed and tested. Methods A software framework for multimodal virtual environments was designed, supporting both visual interactions and haptic feedback while providing developers with an integration tool for heterogeneous architectures maintaining high performance, simplicity of implementation, and straightforward extension. The framework uses decoupled simulation with updates of over 1,000 Hz for haptics and accommodates networked simulation with delays of over 1,000 ms without performance penalty. Results The simulation software framework was implemented and was used to support the design of virtual reality-based surgery simulation systems. The framework supports the high level of complexity of such applications and the fast response required for interaction with haptics. The efficacy of the framework was tested by implementation of a minimally invasive surgery simulator. Conclusion A decoupled simulation approach can be implemented as a framework to handle simultaneous processes of the system at the various frame rates each process requires. The framework was successfully used to develop collaborative virtual environments (VEs) involving geographically distributed users connected through a network, with the results comparable to VEs for local users. PMID:20714933

Surgical model-view-controller simulation software framework for local and collaborative applications.

PubMed

Maciel, Anderson; Sankaranarayanan, Ganesh; Halic, Tansel; Arikatla, Venkata Sreekanth; Lu, Zhonghua; De, Suvranu

2011-07-01

Surgical simulations require haptic interactions and collaboration in a shared virtual environment. A software framework for decoupled surgical simulation based on a multi-controller and multi-viewer model-view-controller (MVC) pattern was developed and tested. A software framework for multimodal virtual environments was designed, supporting both visual interactions and haptic feedback while providing developers with an integration tool for heterogeneous architectures maintaining high performance, simplicity of implementation, and straightforward extension. The framework uses decoupled simulation with updates of over 1,000 Hz for haptics and accommodates networked simulation with delays of over 1,000 ms without performance penalty. The simulation software framework was implemented and was used to support the design of virtual reality-based surgery simulation systems. The framework supports the high level of complexity of such applications and the fast response required for interaction with haptics. The efficacy of the framework was tested by implementation of a minimally invasive surgery simulator. A decoupled simulation approach can be implemented as a framework to handle simultaneous processes of the system at the various frame rates each process requires. The framework was successfully used to develop collaborative virtual environments (VEs) involving geographically distributed users connected through a network, with the results comparable to VEs for local users.

Advanced Maintenance Simulation by Means of Hand-Based Haptic Interfaces

NASA Astrophysics Data System (ADS)

Nappi, Michele; Paolino, Luca; Ricciardi, Stefano; Sebillo, Monica; Vitiello, Giuliana

Aerospace industry has been involved in virtual simulation for design and testing since the birth of virtual reality. Today this industry is showing a growing interest in the development of haptic-based maintenance training applications, which represent the most advanced way to simulate maintenance and repair tasks within a virtual environment by means of a visual-haptic approach. The goal is to allow the trainee to experiment the service procedures not only as a workflow reproduced at a visual level but also in terms of the kinaesthetic feedback involved with the manipulation of tools and components. This study, conducted in collaboration with aerospace industry specialists, is aimed to the development of an immersive virtual capable of immerging the trainees into a virtual environment where mechanics and technicians can perform maintenance simulation or training tasks by directly manipulating 3D virtual models of aircraft parts while perceiving force feedback through the haptic interface. The proposed system is based on ViRstperson, a virtual reality engine under development at the Italian Center for Aerospace Research (CIRA) to support engineering and technical activities such as design-time maintenance procedure validation, and maintenance training. This engine has been extended to support haptic-based interaction, enabling a more complete level of interaction, also in terms of impedance control, and thus fostering the development of haptic knowledge in the user. The user’s “sense of touch” within the immersive virtual environment is simulated through an Immersion CyberForce® hand-based force-feedback device. Preliminary testing of the proposed system seems encouraging.

High-fidelity bilateral teleoperation systems and the effect of multimodal haptics.

PubMed

Tavakoli, Mahdi; Aziminejad, Arash; Patel, Rajni V; Moallem, Mehrdad

2007-12-01

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions.

Synthesis and evaluation of a photoresponsive quencher for fluorescent hybridization probes.

PubMed

Kovaliov, Marina; Wachtel, Chaim; Yavin, Eylon; Fischer, Bilha

2014-10-21

Nowadays, most nucleic acid detections using fluorescent probes rely on quenching of fluorescence by energy transfer from one fluorophore to another or to a non-fluorescent molecule (quencher). The most widely used quencher in fluorescent probes is 4-((4-(dimethylamino)phenyl)azo)benzoic acid (DABCYL). We targeted a nucleoside-DABCYL analogue which could be incorporated anywhere in an oligonucleotide sequence and in any number, and used as a quencher in different hybridization sensitive probes. Specifically, we introduced a 5-(4-((dimethylamino)phenyl)azo)benzene)-2'-deoxy-uridine (dU(DAB)) quencher. The photoisomerization and dU(DAB)'s ability to quench fluorescein emission have been investigated. We incorporated dU(DAB) into a series of oligonucleotide (ON) probes including strand displacement probes, labeled with both fluorescein (FAM) and dU(DAB), and TaqMan probes bearing one or two dU(DAB) and a FAM fluorophore. We used these probes for the detection of a DNA target in real-time PCR (RT-PCR). All probes showed amplification of targeted DNA. A dU(DAB) modified TaqMan RT-PCR probe was more efficient as compared to a DABCYL bearing probe (93% vs. 87%, respectively). Furthermore, dU(DAB) had a stabilizing effect on the duplex, causing an increase in Tm up to 11 °C. In addition we showed the photoisomerisation of the azobenzene moiety of dU(DAB) and the dU(DAB) triply-labeled oligonucleotide upon irradiation. These findings suggest that dU(DAB) modified probes are promising probes for gene quantification in real-time PCR detection and as photoswitchable devices.

Forces on intraocular lens haptics induced by capsular fibrosis. An experimental study.

PubMed

Guthoff, R; Abramo, F; Draeger, J; Chumbley, L C; Lang, G K; Neumann, W

1990-01-01

Electronic dynamometry measurements, performed upon intraocular lens (IOL) haptics of prototype one-piece three-loop silicone lenses, accurately defined the relationships between elastic force and haptic displacement. Lens implantations in the capsular bag of dogs (loop span equal to capsular bag diameter, loops underformed immediately after the operation) were evaluated macrophotographically 5-8 months postoperatively. The highly constant elastic property of silicon rubber permitted quantitative correlation of subsequent in vivo haptic displacement with the resultant force vectors responsible for tissue contraction. The lens optics were well centered in 17 (85%) and slightly offcenter in 3 (15%) of 20 implanted eyes. Of the 60 supporting loops, 28 could be visualized sufficiently well to permit reliable haptic measurement. Of these 28, 20 (71%) were clearly displaced, ranging from 0.45 mm away from to 1.4 mm towards the lens' optic center. These extremes represented resultant vector forces of 0.20 and 1.23 mN respectively. Quantitative vector analysis permits better understanding of IOL-capsular interactions.

Haptics using a smart material for eyes-free interaction in personal devices

NASA Astrophysics Data System (ADS)

Wang, Huihui; Lane, William Brian; Pappas, Devin; Duque, Bryam; Leong, John

2014-03-01

In this paper we present a prototype using a dry ionic polymer metal composite (IPMC) in interactive personal devices such as bracelet, necklace, pocket key chain or mobile devices for haptic interaction when audio or visual feedback is not possible or practical. This prototype interface is an electro-mechanical system that realizes a shape-changing haptic display for information communication. A dry IPMC will change its dimensions due to the electrostatic effect when an electrical potential is provided to them. The IPMC can operate at a lower voltage (less than 2.5V) which is compatible with requirements for personal electrical devices or mobile devices. The prototype consists of the addressable arrays of the IPMCs with different dimensions which are deformable to different shapes with proper handling or customization. 3D printing technology will be used to form supporting parts. Microcontrollers (about 3cm square) from DigiKey will be imbedded into this personal device. An Android based mobile APP will be developed to talk with microcontrollers to control IPMCs. When personal devices receive information signals, the original shape of the prototype will change to another shape related to the specific sender or types of information sources. This interactive prototype can simultaneously realize multiple methods for conveying haptic information such as dimension, force, and texture due to the flexible array design. We conduct several studies of user experience to explore how users' respond to shape change information.

Mixed reality temporal bone surgical dissector: mechanical design

PubMed Central

2014-01-01

Objective The Development of a Novel Mixed Reality (MR) Simulation. An evolving training environment emphasizes the importance of simulation. Current haptic temporal bone simulators have difficulty representing realistic contact forces and while 3D printed models convincingly represent vibrational properties of bone, they cannot reproduce soft tissue. This paper introduces a mixed reality model, where the effective elements of both simulations are combined; haptic rendering of soft tissue directly interacts with a printed bone model. This paper addresses one aspect in a series of challenges, specifically the mechanical merger of a haptic device with an otic drill. This further necessitates gravity cancelation of the work assembly gripper mechanism. In this system, the haptic end-effector is replaced by a high-speed drill and the virtual contact forces need to be repositioned to the drill tip from the mid wand. Previous publications detail generation of both the requisite printed and haptic simulations. Method Custom software was developed to reposition the haptic interaction point to the drill tip. A custom fitting, to hold the otic drill, was developed and its weight was offset using the haptic device. The robustness of the system to disturbances and its stable performance during drilling were tested. The experiments were performed on a mixed reality model consisting of two drillable rapid-prototyped layers separated by a free-space. Within the free-space, a linear virtual force model is applied to simulate drill contact with soft tissue. Results Testing illustrated the effectiveness of gravity cancellation. Additionally, the system exhibited excellent performance given random inputs and during the drill’s passage between real and virtual components of the model. No issues with registration at model boundaries were encountered. Conclusion These tests provide a proof of concept for the initial stages in the development of a novel mixed-reality temporal bone simulator. PMID:25927300

Early Cross-modal Plasticity in Adults.

PubMed

Lo Verde, Luca; Morrone, Maria Concetta; Lunghi, Claudia

2017-03-01

It is known that, after a prolonged period of visual deprivation, the adult visual cortex can be recruited for nonvisual processing, reflecting cross-modal plasticity. Here, we investigated whether cross-modal plasticity can occur at short timescales in the typical adult brain by comparing the interaction between vision and touch during binocular rivalry before and after a brief period of monocular deprivation, which strongly alters ocular balance favoring the deprived eye. While viewing dichoptically two gratings of orthogonal orientation, participants were asked to actively explore a haptic grating congruent in orientation to one of the two rivalrous stimuli. We repeated this procedure before and after 150 min of monocular deprivation. We first confirmed that haptic stimulation interacted with vision during rivalry promoting dominance of the congruent visuo-haptic stimulus and that monocular deprivation increased the deprived eye and decreased the nondeprived eye dominance. Interestingly, after deprivation, we found that the effect of touch did not change for the nondeprived eye, whereas it disappeared for the deprived eye, which was potentiated after deprivation. The absence of visuo-haptic interaction for the deprived eye lasted for over 1 hr and was not attributable to a masking induced by the stronger response of the deprived eye as confirmed by a control experiment. Taken together, our results demonstrate that the adult human visual cortex retains a high degree of cross-modal plasticity, which can occur even at very short timescales.

Touch influences perceived gloss

PubMed Central

Adams, Wendy J.; Kerrigan, Iona S.; Graf, Erich W.

2016-01-01

Identifying an object’s material properties supports recognition and action planning: we grasp objects according to how heavy, hard or slippery we expect them to be. Visual cues to material qualities such as gloss have recently received attention, but how they interact with haptic (touch) information has been largely overlooked. Here, we show that touch modulates gloss perception: objects that feel slippery are perceived as glossier (more shiny).Participants explored virtual objects that varied in look and feel. A discrimination paradigm (Experiment 1) revealed that observers integrate visual gloss with haptic information. Observers could easily detect an increase in glossiness when it was paired with a decrease in friction. In contrast, increased glossiness coupled with decreased slipperiness produced a small perceptual change: the visual and haptic changes counteracted each other. Subjective ratings (Experiment 2) reflected a similar interaction – slippery objects were rated as glossier and vice versa. The sensory system treats visual gloss and haptic friction as correlated cues to surface material. Although friction is not a perfect predictor of gloss, the visual system appears to know and use a probabilistic relationship between these variables to bias perception – a sensible strategy given the ambiguity of visual clues to gloss. PMID:26915492

Co-located haptic and 3D graphic interface for medical simulations.

PubMed

Berkelman, Peter; Miyasaka, Muneaki; Bozlee, Sebastian

2013-01-01

We describe a system which provides high-fidelity haptic feedback in the same physical location as a 3D graphical display, in order to enable realistic physical interaction with virtual anatomical tissue during modelled procedures such as needle driving, palpation, and other interventions performed using handheld instruments. The haptic feedback is produced by the interaction between an array of coils located behind a thin flat LCD screen, and permanent magnets embedded in the instrument held by the user. The coil and magnet configuration permits arbitrary forces and torques to be generated on the instrument in real time according to the dynamics of the simulated tissue by activating the coils in combination. A rigid-body motion tracker provides position and orientation feedback of the handheld instrument to the computer simulation, and the 3D display is produced using LCD shutter glasses and a head-tracking system for the user.

Haptic-2D: A new haptic test battery assessing the tactual abilities of sighted and visually impaired children and adolescents with two-dimensional raised materials.

PubMed

Mazella, Anaïs; Albaret, Jean-Michel; Picard, Delphine

2016-01-01

To fill an important gap in the psychometric assessment of children and adolescents with impaired vision, we designed a new battery of haptic tests, called Haptic-2D, for visually impaired and sighted individuals aged five to 18 years. Unlike existing batteries, ours uses only two-dimensional raised materials that participants explore using active touch. It is composed of 11 haptic tests, measuring scanning skills, tactile discrimination skills, spatial comprehension skills, short-term tactile memory, and comprehension of tactile pictures. We administered this battery to 138 participants, half of whom were sighted (n=69), and half visually impaired (blind, n=16; low vision, n=53). Results indicated a significant main effect of age on haptic scores, but no main effect of vision or Age × Vision interaction effect. Reliability of test items was satisfactory (Cronbach's alpha, α=0.51-0.84). Convergent validity was good, as shown by a significant correlation (age partialled out) between total haptic scores and scores on the B101 test (rp=0.51, n=47). Discriminant validity was also satisfactory, as attested by a lower but still significant partial correlation between total haptic scores and the raw score on the verbal WISC (rp=0.43, n=62). Finally, test-retest reliability was good (rs=0.93, n=12; interval of one to two months). This new psychometric tool should prove useful to practitioners working with young people with impaired vision. Copyright © 2015 Elsevier Ltd. All rights reserved.

International Space Station (ISS) Carbon Dioxide Removal Assembly (CDRA) Desiccant/Adsorbent Bed (DAB) Orbital Replacement Unit (ORU) Redesign

NASA Technical Reports Server (NTRS)

Reysa, Richard P.; Lumpkin, John P.; Sherif, Dian El; Kay, Robert; Williams, David E.

2007-01-01

The Carbon Dioxide Removal Assembly (CDRA) is a part of the International Space Station (ISS) Environmental Control and Life Support (ECLS) system. The CDRA provides carbon dioxide (CO2) removal from the ISS on-orbit modules. Currently, the CDRA is the secondary removal system on the ISS, with the primary system being the Russian Vozdukh. Within the CDRA are two desiccant/adsorbent beds (DAB), which perform the carbon dioxide removal function. The DAB adsorbent containment approach required improvements with respect to adsorbent containment. These improvements were implemented through a redesign program and have been implemented on units returning from orbit. This paper presents a DAB design modification implementation description, a hardware performance comparison between the unmodified and modified DAB configurations, and a description of the modified DAB hardware implementation into the on-orbit CDRA.

New Typical Vector of Neurotoxin β-N-Methylamino-l-Alanine (BMAA) in the Marine Benthic Ecosystem.

PubMed

Li, Aifeng; Song, Jialiang; Hu, Yang; Deng, Longji; Ding, Ling; Li, Meihui

2016-11-04

The neurotoxin β- N -methylamino-l-alanine (BMAA) has been identified as an environmental factor triggering neurodegenerative diseases such as Amyotrophic Lateral Sclerosis (ALS) and Alzheimer's disease (AD). We investigated the possible vectors of BMAA and its isomers 2,4-diaminobutyric acid (DAB) and N -2(aminoethyl)glycine (AEG) in marine mollusks collected from the Chinese coast. Sixty-eight samples of marine mollusks were collected along the Chinese coast in 2016, and were analyzed by an HILIC-MS/MS (hydrophilic interaction liquid chromatography with tandem quadrupole mass spectrometer) method without derivatization. BMAA was detected in a total of five samples from three species: Neverita didyma , Solen strictus , and Mytilus coruscus . The top three concentrations of free-form BMAA (0.99~3.97 μg·g -1 wet weight) were detected in N. didyma . DAB was universally detected in most of the mollusk samples (53/68) with no species-specific or regional differences (0.051~2.65 μg·g -1 wet weight). No AEG was detected in any mollusk samples tested here. The results indicate that the gastropod N. didyma might be an important vector of the neurotoxin BMAA in the Chinese marine ecosystem. The neurotoxin DAB was universally present in marine bivalve and gastropod mollusks. Since N. didyma is consumed by humans, we suggest that the origin and risk of BMAA and DAB toxins in the marine ecosystem should be further investigated in the future.

Effects of kinesthetic haptic feedback on standing stability of young healthy subjects and stroke patients.

PubMed

Afzal, Muhammad Raheel; Byun, Ha-Young; Oh, Min-Kyun; Yoon, Jungwon

2015-03-13

Haptic control is a useful therapeutic option in rehabilitation featuring virtual reality interaction. As with visual and vibrotactile biofeedback, kinesthetic haptic feedback may assist in postural control, and can achieve balance control. Kinesthetic haptic feedback in terms of body sway can be delivered via a commercially available haptic device and can enhance the balance stability of both young healthy subjects and stroke patients. Our system features a waist-attached smartphone, software running on a computer (PC), and a dedicated Phantom Omni® device. Young healthy participants performed balance tasks after assumption of each of four distinct postures for 30 s (one foot on the ground; the Tandem Romberg stance; one foot on foam; and the Tandem Romberg stance on foam) with eyes closed. Patient eyes were not closed and assumption of the Romberg stance (only) was tested during a balance task 25 s in duration. An Android application running continuously on the smartphone sent mediolateral (ML) and anteroposterior (AP) tilt angles to a PC, which generated kinesthetic haptic feedback via Phantom Omni®. A total of 16 subjects, 8 of whom were young healthy and 8 of whom had suffered stroke, participated in the study. Post-experiment data analysis was performed using MATLAB®. Mean Velocity Displacement (MVD), Planar Deviation (PD), Mediolateral Trajectory (MLT) and Anteroposterior Trajectory (APT) parameters were analyzed to measure reduction in body sway. Our kinesthetic haptic feedback system was effective to reduce postural sway in young healthy subjects regardless of posture and the condition of the substrate (the ground) and to improve MVD and PD in stroke patients who assumed the Romberg stance. Analysis of Variance (ANOVA) revealed that kinesthetic haptic feedback significantly reduced body sway in both categories of subjects. Kinesthetic haptic feedback can be implemented using a commercial haptic device and a smartphone. Intuitive balance cues were created using the handle of a haptic device, rendering the approach very simple yet efficient in practice. This novel form of biofeedback will be a useful rehabilitation tool improving the balance of stroke patients.

Bonding Properties of a Novel Inorganometallic Complex, Ru(SnPh(3))(2)(CO)(2)(iPr-DAB) (iPr-DAB = N,N'-Diisopropyl-1,4-diaza-1,3-butadiene), and its Stable Radical-Anion, Studied by UV-Vis, IR, and EPR Spectroscopy, (Spectro-) Electrochemistry, and Density Functional Calculations.

PubMed

Aarnts, Maxim P.; Wilms, Maikel P.; Peelen, Karin; Fraanje, Jan; Goubitz, Kees; Hartl, Frantisek; Stufkens, Derk J.; Baerends, Evert Jan; Vlcek, Antonín

1996-09-11

Ru(SnPh(3))(2)(CO)(2)(iPr-DAB) was synthesized and characterized by UV-vis, IR, (1)H NMR, (13)C NMR, (119)Sn NMR, and mass (FAB(+)) spectroscopies and by single-crystal X-ray diffraction, which proved the presence of a nearly linear Sn-Ru-Sn unit. Crystals of Ru(SnPh(3))(2)(CO)(2)(iPr-DAB).3.5C(6)H(6) form in the triclinic space group P&onemacr; in a unit cell of dimensions a = 11.662(6) Å, b = 13.902(3) Å, c = 19.643(2) Å, alpha = 71.24(2) degrees, beta = 86.91(4) degrees, gamma = 77.89(3) degrees, and V = 2946(3) Å(3). One-electron reduction of Ru(SnPh(3))(2)(CO)(2)(iPr-DAB) produces the stable radical-anion [Ru(SnPh(3))(2)(CO)(2)(iPr-DAB)](*-) that was characterized by IR, and UV-vis spectroelectrochemistry. Its EPR spectrum shows a signal at g = 1.9960 with well resolved Sn, Ru, and iPr-DAB (H, N) hyperfine couplings. DFT-MO calculations on the model compound Ru(SnH(3))(2)(CO)(2)(H-DAB) reveal that the HOMO is mainly of sigma(Sn-Ru-Sn) character mixed strongly with the lowest pi orbital of the H-DAB ligand. The LUMO (SOMO in the reduced complex) should be viewed as predominantly pi(H-DAB) with an admixture of the sigma(Sn-Ru-Sn) orbital. Accordingly, the lowest-energy absorption band of the neutral species will mainly belong to the sigma(Sn-Ru-Sn)-->pi(iPr-DAB) charge transfer transition. The intrinsic strength of the Ru-Sn bond and the delocalized character of the three-center four-electron Sn-Ru-Sn sigma-bond account for the inherent stability of the radical anion.

Exploring laterality and memory effects in the haptic discrimination of verbal and non-verbal shapes.

PubMed

Stoycheva, Polina; Tiippana, Kaisa

2018-03-14

The brain's left hemisphere often displays advantages in processing verbal information, while the right hemisphere favours processing non-verbal information. In the haptic domain due to contra-lateral innervations, this functional lateralization is reflected in a hand advantage during certain functions. Findings regarding the hand-hemisphere advantage for haptic information remain contradictory, however. This study addressed these laterality effects and their interaction with memory retention times in the haptic modality. Participants performed haptic discrimination of letters, geometric shapes and nonsense shapes at memory retention times of 5, 15 and 30 s with the left and right hand separately, and we measured the discriminability index d'. The d' values were significantly higher for letters and geometric shapes than for nonsense shapes. This might result from dual coding (naming + spatial) or/and from a low stimulus complexity. There was no stimulus-specific laterality effect. However, we found a time-dependent laterality effect, which revealed that the performance of the left hand-right hemisphere was sustained up to 15 s, while the performance of the right-hand-left hemisphere decreased progressively throughout all retention times. This suggests that haptic memory traces are more robust to decay when they are processed by the left hand-right hemisphere.

Haptic feedback improves surgeons' user experience and fracture reduction in facial trauma simulation.

PubMed

Girod, Sabine; Schvartzman, Sara C; Gaudilliere, Dyani; Salisbury, Kenneth; Silva, Rebeka

2016-01-01

Computer-assisted surgical (CAS) planning tools are available for craniofacial surgery, but are usually based on computer-aided design (CAD) tools that lack the ability to detect the collision of virtual objects (i.e., fractured bone segments). We developed a CAS system featuring a sense of touch (haptic) that enables surgeons to physically interact with individual, patient-specific anatomy and immerse in a three-dimensional virtual environment. In this study, we evaluated initial user experience with our novel system compared to an existing CAD system. Ten surgery resident trainees received a brief verbal introduction to both the haptic and CAD systems. Users simulated mandibular fracture reduction in three clinical cases within a 15 min time limit for each system and completed a questionnaire to assess their subjective experience. We compared standard landmarks and linear and angular measurements between the simulated results and the actual surgical outcome and found that haptic simulation results were not significantly different from actual postoperative outcomes. In contrast, CAD results significantly differed from both the haptic simulation and actual postoperative results. In addition to enabling a more accurate fracture repair, the haptic system provided a better user experience than the CAD system in terms of intuitiveness and self-reported quality of repair.

Haptic interfaces using dielectric electroactive polymers

NASA Astrophysics Data System (ADS)

Ozsecen, Muzaffer Y.; Sivak, Mark; Mavroidis, Constantinos

2010-04-01

Quality, amplitude and frequency of the interaction forces between a human and an actuator are essential traits for haptic applications. A variety of Electro-Active Polymer (EAP) based actuators can provide these characteristics simultaneously with quiet operation, low weight, high power density and fast response. This paper demonstrates a rolled Dielectric Elastomer Actuator (DEA) being used as a telepresence device in a heart beat measurement application. In the this testing, heart signals were acquired from a remote location using a wireless heart rate sensor, sent through a network and DEA was used to haptically reproduce the heart beats at the medical expert's location. A series of preliminary human subject tests were conducted that demonstrated that a) DE based haptic feeling can be used in heart beat measurement tests and b) through subjective testing the stiffness and actuator properties of the EAP can be tuned for a variety of applications.

Presence, location, type and size of denuded areas of subchondral bone in the knee as a function of radiographic stage of OA - data from the OA initiative.

PubMed

Frobell, R B; Wirth, W; Nevitt, M; Wyman, B T; Benichou, O; Dreher, D; Davies, R Y; Lee, J H; Baribaud, F; Gimona, A; Hudelmaier, M; Cotofana, S; Eckstein, F

2010-05-01

To assess the presence, location, type and size of denuded areas of subchondral bone (dAB) in the femorotibial joint, measured quantitatively with 3T MRI, in a large subset of OAI participants. One knee of 633 subjects (250 men, 383 women, aged 61.7+/-9.6 y) were studied, spanning all radiographic osteoarthritis (OA) stages. dABs were determined quantitatively using segmentations of coronal FLASHwe images, representing areas where the subchondral bone was not covered by cartilage. Post hoc visual examination of segmented images determined whether dABs represented full thickness cartilage loss or internal osteophyte. 7% Of the knees were Kellgren & Lawrence (KL) grade 0, 6% grade 1, 41% grade 2, 41% grade 3, and 5% grade 4. 39% Of the participants (48% of the men and 33% of the women) displayed dABs; 61% of the dABs represented internal osteophytes. 1/47 Participants with KL grade 0 displayed 'any' dAB whereas 29/32 of the KL grade 4 knees were affected. Even as early as KL grade 1, 29% of the participants showed dABs. There were significant relationships of dAB with increasing KL grades (P<0.001) and with ipsi-compartimental JSN (P< or =0.001). Internal osteophytes were more frequent laterally (mainly posterior tibia and internal femur) whereas full thickness cartilage loss was more frequent medially (mainly external tibia and femur). dABs occur already at earliest stages of radiographic OA (KL grades 1 and 2) and become more common (and larger) with increasing disease severity. Almost all KL grade 4 knees exhibited dABs, with cartilage loss being more frequent than internal osteophytes. Copyright 2010 Osteoarthritis Research Society International. Published by Elsevier Ltd. All rights reserved.

Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

PubMed

Hongbo Wang; Kosuge, K

2012-01-01

Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

Perceptual grouping determines haptic contextual modulation.

PubMed

Overvliet, K E; Sayim, B

2016-09-01

Since the early phenomenological demonstrations of Gestalt principles, one of the major challenges of Gestalt psychology has been to quantify these principles. Here, we show that contextual modulation, i.e. the influence of context on target perception, can be used as a tool to quantify perceptual grouping in the haptic domain, similar to the visual domain. We investigated the influence of target-flanker grouping on performance in haptic vernier offset discrimination. We hypothesized that when, despite the apparent differences between vision and haptics, similar grouping principles are operational, a similar pattern of flanker interference would be observed in the haptic as in the visual domain. Participants discriminated the offset of a haptic vernier. The vernier was flanked by different flanker configurations: no flankers, single flanking lines, 10 flanking lines, rectangles and single perpendicular lines, varying the degree to which the vernier grouped with the flankers. Additionally, we used two different flanker widths (same width as and narrower than the target), again to vary target-flanker grouping. Our results show a clear effect of flankers: performance was much better when the vernier was presented alone compared to when it was presented with flankers. In the majority of flanker configurations, grouping between the target and the flankers determined the strength of interference, similar to the visual domain. However, in the same width rectangular flanker condition we found aberrant results. We discuss the results of our study in light of similarities and differences between vision and haptics and the interaction between different grouping principles. We conclude that in haptics, similar organization principles apply as in visual perception and argue that grouping and Gestalt are key organization principles not only of vision, but of the perceptual system in general. Copyright © 2015 Elsevier Ltd. All rights reserved.

47 CFR 73.404 - Interim hybrid IBOC DAB operation.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 47 Telecommunication 4 2012-10-01 2012-10-01 false Interim hybrid IBOC DAB operation. 73.404 Section 73.404 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) BROADCAST RADIO SERVICES RADIO BROADCAST SERVICES Digital Audio Broadcasting § 73.404 Interim hybrid IBOC DAB operation. (a) The...

47 CFR 73.404 - Interim hybrid IBOC DAB operation.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 47 Telecommunication 4 2011-10-01 2011-10-01 false Interim hybrid IBOC DAB operation. 73.404 Section 73.404 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) BROADCAST RADIO SERVICES RADIO BROADCAST SERVICES Digital Audio Broadcasting § 73.404 Interim hybrid IBOC DAB operation. (a) The...

47 CFR 73.404 - Interim hybrid IBOC DAB operation.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 47 Telecommunication 4 2013-10-01 2013-10-01 false Interim hybrid IBOC DAB operation. 73.404 Section 73.404 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) BROADCAST RADIO SERVICES RADIO BROADCAST SERVICES Digital Audio Broadcasting § 73.404 Interim hybrid IBOC DAB operation. (a) The...

47 CFR 73.404 - Interim hybrid IBOC DAB operation.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 47 Telecommunication 4 2014-10-01 2014-10-01 false Interim hybrid IBOC DAB operation. 73.404 Section 73.404 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) BROADCAST RADIO SERVICES RADIO BROADCAST SERVICES Digital Audio Broadcasting § 73.404 Interim hybrid IBOC DAB operation. (a) The...

Disabled is a putative adaptor protein that functions during signaling by the sevenless receptor tyrosine kinase.

PubMed

Le, N; Simon, M A

1998-08-01

DRK, the Drosophila homolog of the SH2-SH3 domain adaptor protein Grb2, is required during signaling by the sevenless receptor tyrosine kinase (SEV). One role of DRK is to provide a link between activated SEV and the Ras1 activator SOS. We have investigated the possibility that DRK performs other functions by identifying additional DRK-binding proteins. We show that the phosphotyrosine-binding (PTB) domain-containing protein Disabled (DAB) binds to the DRK SH3 domains. DAB is expressed in the ommatidial clusters, and loss of DAB function disrupts ommatidial development. Moreover, reduction of DAB function attenuates signaling by a constitutively activated SEV. Our biochemical analysis suggests that DAB binds SEV directly via its PTB domain, becomes tyrosine phosphorylated upon SEV activation, and then serves as an adaptor protein for SH2 domain-containing proteins. Taken together, these results indicate that DAB is a novel component of the SEV signaling pathway.

Audio Haptic Videogaming for Developing Wayfinding Skills in Learners Who are Blind

PubMed Central

Sánchez, Jaime; de Borba Campos, Marcia; Espinoza, Matías; Merabet, Lotfi B.

2014-01-01

Interactive digital technologies are currently being developed as a novel tool for education and skill development. Audiopolis is an audio and haptic based videogame designed for developing orientation and mobility (O&M) skills in people who are blind. We have evaluated the cognitive impact of videogame play on O&M skills by assessing performance on a series of behavioral tasks carried out in both indoor and outdoor virtual spaces. Our results demonstrate that the use of Audiopolis had a positive impact on the development and use of O&M skills in school-aged learners who are blind. The impact of audio and haptic information on learning is also discussed. PMID:25485312

Enhancing the Performance of Passive Teleoperation Systems via Cutaneous Feedback.

PubMed

Pacchierotti, Claudio; Tirmizi, Asad; Bianchini, Gianni; Prattichizzo, Domenico

2015-01-01

We introduce a novel method to improve the performance of passive teleoperation systems with force reflection. It consists of integrating kinesthetic haptic feedback provided by common grounded haptic interfaces with cutaneous haptic feedback. The proposed approach can be used on top of any time-domain control technique that ensures a stable interaction by scaling down kinesthetic feedback when this is required to satisfy stability conditions (e.g., passivity) at the expense of transparency. Performance is recovered by providing a suitable amount of cutaneous force through custom wearable cutaneous devices. The viability of the proposed approach is demonstrated through an experiment of perceived stiffness and an experiment of teleoperated needle insertion in soft tissue.

A haptic sensing upgrade for the current EOD robotic fleet

NASA Astrophysics Data System (ADS)

Rowe, Patrick

2014-06-01

The past decade and a half has seen a tremendous rise in the use of mobile manipulator robotic platforms for bomb inspection and disposal, explosive ordnance disposal, and other extremely hazardous tasks in both military and civilian settings. Skilled operators are able to control these robotic vehicles in amazing ways given the very limited situational awareness obtained from a few on-board camera views. Future generations of robotic platforms will, no doubt, provide some sort of additional force or haptic sensor feedback to further enhance the operator's interaction with the robot, especially when dealing with fragile, unstable, and explosive objects. Unfortunately, the robot operators need this capability today. This paper discusses an approach to provide existing (and future) robotic mobile manipulator platforms, with which trained operators are already familiar and highly proficient, this desired haptic and force feedback capability. The goals of this technology are to be rugged, reliable, and affordable. It should also be able to be applied to a wide range of existing robots with a wide variety of manipulator/gripper sizes and styles. Finally, the presentation of the haptic information to the operator is discussed, given the fact that control devices that physically interact with the operators are not widely available and still in the research stages.

47 CFR 73.404 - Interim hybrid IBOC DAB operation.

Code of Federal Regulations, 2010 CFR

2010-10-01

... RADIO BROADCAST SERVICES Digital Audio Broadcasting § 73.404 Interim hybrid IBOC DAB operation. (a) The... test operation pursuant to § 73.1620, may commence interim hybrid IBOC DAB operation with digital... No. 99-325. FM stations are permitted to operate with hybrid digital effective radiated power equal...

Functional design to support CDTI/DABS flight experiments

NASA Technical Reports Server (NTRS)

Goka, T.

1982-01-01

The objectives of this project are to: (1) provide a generalized functional design of CDTI avionics using the FAA developd DABS/ATARS ground system as the 'traffic sensor', (2) specify software modifications and/or additions to the existing DABS/ATARS ground system to support CDTI avionics, (3) assess the existing avionics of a NASA research aircraft in terms of CDTI applications, and (4) apply the generalized functional design to provide research flight experiment capability. DABS Data Link Formats are first specified for CDTI flight experiments. The set of CDTI/DABS Format specifications becomes a vehicle to coordinate the CDTI avionics and ground system designs, and hence, to develop overall system requirements. The report is the first iteration of a system design and development effort to support eventual CDTI flight test experiments.

Hybrid graphene oxide/DAB-Am-16 dendrimer: Preparation, characterization chemical reactivity and their electrocatalytic detection of L-Dopamine

NASA Astrophysics Data System (ADS)

Do Carmo, Devaney Ribeiro; Fernandes, Daniela Silvestrini

2017-09-01

Graphene oxide (GO) was chemically modified with a poly(propylene)imine Generation 3.0 dendrimer (DAB-Am-16). The characterization, structure and properties of hybrid graphene oxide/DAB-Am-16 dendrimer was studied by Raman spectroscopy, Fourier-Transforming Infrared Spectroscopy (FT-IR), X-Ray Photoelectron Spectroscopic (XPS), X-ray Diffraction (XRD), Scanning Electron Microscopy (SEM) and Thermogravimetric analysis. After functionalized the hybrid material (GOD) can interact with copper and subsequently with hexacyanoferrate (III) ions (GODHCu). The GODHCu incorporated into a graphite paste electrode (20% w/w) was applied to an electrocatalytic detection of neurotransmitter L-dopamine using differential pulse voltammetry. The analytical curve showed a linear response in the concentration range from 1.0 × 10-7 to 1.0 × 10-5 mol L-1 with a corresponding equation Y(A) = 1.706 × 10-5 + 0.862 [L-dopamine] and a correlation coefficient r2 = 0.998. The detection limit was 6.36 × 10-7 mol L-1 with a relative standard deviation of ±4% (n = 3) and an amperometric sensitivity of 0.862 A/mol L-1.

Relationship between knee pain and the presence, location, size and phenotype of femorotibial denuded areas of subchondral bone as visualized by MRI.

PubMed

Cotofana, S; Wyman, B T; Benichou, O; Dreher, D; Nevitt, M; Gardiner, J; Wirth, W; Hitzl, W; Kwoh, C K; Eckstein, F; Frobell, R B

2013-09-01

Conflicting associations between imaging biomarkers and pain in knee osteoarthritis (OA) have been reported. A relation between pain and denuded areas of subchondral bone (dABs) has been suggested and this study explores this relationship further by relating the presence, phenotype, location and size of dABs to different measures of knee pain. 633 right knees from the Osteoarthritis Initiative (OAI) (250 men, age 61.7 ± 9.6 yrs, BMI 29.4 ± 4.7 kg/m(2)) were included. Manual segmentation of the femorotibial cartilage plates was performed on 3 T coronal fast low angle shot with water excitation (FLASHwe) images. dABs were defined as areas where the subchondral bone was uncovered by cartilage. The following measures of pain were used: weightbearing-, non-weightbearing-, moderate-to-severe-, infrequent- and frequent knee pain. Using pain measures from subjects without dABs as a reference, those with at least one dAB had a 1.64-fold higher prevalence ratio [PR, 95% confidence interval (CI) 1.24-2.18] to have frequent and 1.45-fold higher for moderate-to-severe knee pain (95% CI 1.13-1.85). Subjects with dABs in central subregions had a 1.53-fold increased prevalence of having weightbearing pain (95% CI 1.20-1.97), especially when the central subregion was moderately (>10%) denuded (PR 1.81, 95% CI 1.35-2.42). Individuals with cartilage-loss-type dABs had a slightly higher prevalence (PR 1.13, 95% CI 1.00-1.27) of having frequent knee pain compared to individuals with intra-chondral-osteophyte-type dABs. This study supports a positive relation between femorotibial dABs and knee pain, especially when the dABs are located centrally (i.e., in weightbearing regions) or when the respective central subregion is moderately denuded. Copyright © 2013 Osteoarthritis Research Society International. Published by Elsevier Ltd. All rights reserved.

A Review of Simulators with Haptic Devices for Medical Training.

PubMed

Escobar-Castillejos, David; Noguez, Julieta; Neri, Luis; Magana, Alejandra; Benes, Bedrich

2016-04-01

Medical procedures often involve the use of the tactile sense to manipulate organs or tissues by using special tools. Doctors require extensive preparation in order to perform them successfully; for example, research shows that a minimum of 750 operations are needed to acquire sufficient experience to perform medical procedures correctly. Haptic devices have become an important training alternative and they have been considered to improve medical training because they let users interact with virtual environments by adding the sense of touch to the simulation. Previous articles in the field state that haptic devices enhance the learning of surgeons compared to current training environments used in medical schools (corpses, animals, or synthetic skin and organs). Consequently, virtual environments use haptic devices to improve realism. The goal of this paper is to provide a state of the art review of recent medical simulators that use haptic devices. In particular we focus on stitching, palpation, dental procedures, endoscopy, laparoscopy, and orthopaedics. These simulators are reviewed and compared from the viewpoint of used technology, the number of degrees of freedom, degrees of force feedback, perceived realism, immersion, and feedback provided to the user. In the conclusion, several observations per area and suggestions for future work are provided.

Using the PhysX engine for physics-based virtual surgery with force feedback.

PubMed

Maciel, Anderson; Halic, Tansel; Lu, Zhonghua; Nedel, Luciana P; De, Suvranu

2009-09-01

The development of modern surgical simulators is highly challenging, as they must support complex simulation environments. The demand for higher realism in such simulators has driven researchers to adopt physics-based models, which are computationally very demanding. This poses a major problem, since real-time interactions must permit graphical updates of 30 Hz and a much higher rate of 1 kHz for force feedback (haptics). Recently several physics engines have been developed which offer multi-physics simulation capabilities, including rigid and deformable bodies, cloth and fluids. While such physics engines provide unique opportunities for the development of surgical simulators, their higher latencies, compared to what is necessary for real-time graphics and haptics, offer significant barriers to their use in interactive simulation environments. In this work, we propose solutions to this problem and demonstrate how a multimodal surgical simulation environment may be developed based on NVIDIA's PhysX physics library. Hence, models that are undergoing relatively low-frequency updates in PhysX can exist in an environment that demands much higher frequency updates for haptics. We use a collision handling layer to interface between the physical response provided by PhysX and the haptic rendering device to provide both real-time tissue response and force feedback. Our simulator integrates a bimanual haptic interface for force feedback and per-pixel shaders for graphics realism in real time. To demonstrate the effectiveness of our approach, we present the simulation of the laparoscopic adjustable gastric banding (LAGB) procedure as a case study. To develop complex and realistic surgical trainers with realistic organ geometries and tissue properties demands stable physics-based deformation methods, which are not always compatible with the interaction level required for such trainers. We have shown that combining different modelling strategies for behaviour, collision and graphics is possible and desirable. Such multimodal environments enable suitable rates to simulate the major steps of the LAGB procedure.

Developability assessment of clinical drug products with maximum absorbable doses.

PubMed

Ding, Xuan; Rose, John P; Van Gelder, Jan

2012-05-10

Maximum absorbable dose refers to the maximum amount of an orally administered drug that can be absorbed in the gastrointestinal tract. Maximum absorbable dose, or D(abs), has proved to be an important parameter for quantifying the absorption potential of drug candidates. The purpose of this work is to validate the use of D(abs) in a developability assessment context, and to establish appropriate protocol and interpretation criteria for this application. Three methods for calculating D(abs) were compared by assessing how well the methods predicted the absorption limit for a set of real clinical candidates. D(abs) was calculated for these clinical candidates by means of a simple equation and two computer simulation programs, GastroPlus and an program developed at Eli Lilly and Company. Results from single dose escalation studies in Phase I clinical trials were analyzed to identify the maximum absorbable doses for these compounds. Compared to the clinical results, the equation and both simulation programs provide conservative estimates of D(abs), but in general D(abs) from the computer simulations are more accurate, which may find obvious advantage for the simulations in developability assessment. Computer simulations also revealed the complex behavior associated with absorption saturation and suggested in most cases that the D(abs) limit is not likely to be achieved in a typical clinical dose range. On the basis of the validation findings, an approach is proposed for assessing absorption potential, and best practices are discussed for the use of D(abs) estimates to inform clinical formulation development strategies. Copyright © 2012 Elsevier B.V. All rights reserved.

A content analysis of tweets about high-potency marijuana.

PubMed

Cavazos-Rehg, Patricia A; Sowles, Shaina J; Krauss, Melissa J; Agbonavbare, Vivian; Grucza, Richard; Bierut, Laura

2016-09-01

"Dabbing" involves heating extremely concentrated forms of marijuana to high temperatures and inhaling the resulting vapor. We studied themes describing the consequences of using highly concentrated marijuana by examining the dabbing-related content on Twitter. Tweets containing dabbing-related keywords were collected from 1/1-1/31/2015 (n=206,854). A random sample of 5000 tweets was coded for content according to pre-determined categories about dabbing-related behaviors and effects experienced using a crowdsourcing service. An examination of tweets from the full sample about respiratory effects and passing out was then conducted by selecting tweets with relevant keywords. Among the 5000 randomly sampled tweets, 3540 (71%) were related to dabbing marijuana concentrates. The most common themes included mentioning current use of concentrates (n=849; 24%), the intense high and/or extreme effects from dabbing (n=763; 22%) and excessive/heavy dabbing (n=517; 15%). Extreme effects included both physiological (n=124/333; 37%) and psychological effects (n=55/333; 17%). The most common physiologic effects, passing out (n=46/333; 14%) and respiratory effects (n=30/333; 9%), were then further studied in the full sample of tweets. Coughing was the most common respiratory effect mentioned (n=807/1179; 68%), and tweeters commonly expressed dabbing with intentions to pass out (416/915; 45%). This study adds to the limited understanding of marijuana concentrates and highlights self-reported physical and psychological effects from this type of marijuana use. Future research should further examine these effects and the potential severity of health consequences associated with concentrates. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Characterization of 1,4-dideoxy-1,4-imino-d-arabinitol (DAB) as an inhibitor of brain glycogen shunt activity.

PubMed

Walls, Anne B; Sickmann, Helle M; Brown, Angus; Bouman, Stephan D; Ransom, Bruce; Schousboe, Arne; Waagepetersen, Helle S

2008-05-01

The pharmacological properties of 1,4-dideoxy-1,4-imino-d-arabinitol (DAB), a potent inhibitor of glycogen phosphorylase and synthase activity in liver preparations, were characterized in different brain tissue preparations as a prerequisite for using it as a tool to investigate brain glycogen metabolism. Its inhibitory effect on glycogen phosphorylase was studied in homogenates of brain tissue and astrocytes and IC50-values close to 400 nM were found. However, the concentration of DAB needed for inhibition of glycogen shunt activity, i.e. glucose metabolism via glycogen, in intact astrocytes was almost three orders of magnitude higher. Additionally, such complete inhibition required a pre-incubation period, a finding possibly reflecting a limited permeability of the astrocytic membrane. DAB did not affect the accumulation of 2-deoxyglucose-6-phosphate indicating that the transport of DAB is not mediated by the glucose transporter. DAB had no effect on enzymes involving glucose-6-phosphate, i.e. glucose-6-phosphate dehydrogenase, phosphoglucoisomerase and hexokinase. Furthermore, DAB was evaluated in a functional preparation of the isolated mouse optic nerve, in which its presence severely reduced the ability to sustain evoked compound action potentials in the absence of glucose, a condition in which glycogen serves as an important energy substrate. Based on the experimental findings, DAB can be used to evaluate glycogen shunt activity and its functional importance in intact brain tissue and cells at a concentration of 300-1000 muM and a pre-incubation period of 1 h.

Characterization and receptor specific toxicity of two diphtheria toxin-related interleukin-3 fusion proteins DAB389-mIL-3 and DAB389-(Gly4Ser)2-mIL-3.

PubMed

Liger, D; vanderSpek, J C; Gaillard, C; Cansier, C; Murphy, J R; Leboulch, P; Gillet, D

1997-04-07

We have constructed two fusion proteins, DAB389-mIL-3 and DAB389-(Gly4Ser)2-mIL-3, in which the receptor-binding domain of diphtheria toxin is replaced by mouse interleukin-3 (IL-3). Cytotoxic activity of the fusion toxins was observed on three out of six cell lines assayed. This toxicity was mediated through binding to the IL-3 receptor as it was inhibited in a dose-dependent manner with murine IL-3 or anti-IL-3 neutralizing antibodies. DAB389-(Gly4Ser)2-mIL-3 was up to 5 times more toxic than DAB389-mIL-3, depending on the cell line (0.8 x 10(-10) M < IC50 < 3 x 10(-10) M). These proteins can be used for the detection of IL-3 receptors on mouse cells and should allow for the selective elimination of IL-3 receptor-positive pluripotent hematopoietic stem cells prior to bone marrow transplantation.

DAB user's guide

NASA Technical Reports Server (NTRS)

Trosin, J.

1985-01-01

Use of the Display AButments (DAB) which plots PAN AIR geometries is presented. The DAB program creates hidden line displays of PAN AIR geometries and labels specified geometry components, such as abutments, networks, and network edges. It is used to alleviate the very time consuming and error prone abutment list checking phase of developing a valid PAN AIR geometry, and therefore represents a valuable tool for debugging complex PAN AIR geometry definitions. DAB is written in FORTRAN 77 and runs on a Digital Equipment Corporation VAX 11/780 under VMS. It utilizes a special color version of the SKETCH hidden line analysis routine.

Development of a novel haptic glove for improving finger dexterity in poststroke rehabilitation.

PubMed

Lin, Chi-Ying; Tsai, Chia-Min; Shih, Pei-Cheng; Wu, Hsiao-Ching

2015-01-01

Almost all stroke patients experience a certain degree of fine motor impairment, and impeded finger movement may limit activities in daily life. Thus, to improve the quality of life of stroke patients, designing an efficient training device for fine motor rehabilitation is crucial. This study aimed to develop a novel fine motor training glove that integrates a virtual-reality based interactive environment with vibrotactile feedback for more effective post stroke hand rehabilitation. The proposed haptic rehabilitation device is equipped with small DC vibration motors for vibrotactile feedback stimulation and piezoresistive thin-film force sensors for motor function evaluation. Two virtual-reality based games ``gopher hitting'' and ``musical note hitting'' were developed as a haptic interface. According to the designed rehabilitation program, patients intuitively push and practice their fingers to improve the finger isolation function. Preliminary tests were conducted to assess the feasibility of the developed haptic rehabilitation system and to identify design concerns regarding the practical use in future clinical testing.

A novel shape-changing haptic table-top display

NASA Astrophysics Data System (ADS)

Wang, Jiabin; Zhao, Lu; Liu, Yue; Wang, Yongtian; Cai, Yi

2018-01-01

A shape-changing table-top display with haptic feedback allows its users to perceive 3D visual and texture displays interactively. Since few existing devices are developed as accurate displays with regulatory haptic feedback, a novel attentive and immersive shape changing mechanical interface (SCMI) consisting of image processing unit and transformation unit was proposed in this paper. In order to support a precise 3D table-top display with an offset of less than 2 mm, a custommade mechanism was developed to form precise surface and regulate the feedback force. The proposed image processing unit was capable of extracting texture data from 2D picture for rendering shape-changing surface and realizing 3D modeling. The preliminary evaluation result proved the feasibility of the proposed system.

Ocular tissue distribution and pharmacokinetic study of a small 13kDa domain antibody after intravitreal, subconjuctival and eye drop administration in rabbits.

PubMed

Gough, Gerald; Szapacs, Matthew; Shah, Tejash; Clements, Peter; Struble, Craig; Wilson, Robert

2018-02-01

Domain antibodies (dAb's) comprise the smallest functional unit of human IgG and can be targeted to a range of different soluble cytokine and receptor targets in the eye. In particular their small size may offer advantage for ocular tissue penetration and distribution. To investigate this we used a 13kDa tool molecule to undertake a preliminary short term ocular tissue distribution and pharmacokinetic study in the rabbit eye. The dAb was administered by the intravitreal or subconjunctival route or, as topical eye drops for up to five days and dAb concentrations measured in vitreous, aqueous, conjunctiva, choroid-RPE, retina, iris, sclera, and ciliary body. The observed elimination half-live of the dAb (~3 days) in vitreous showed a similar elimination rate to that of a much larger (∼50kDa) Fab fragment whilst the half-life following subconjunctival administration was ∼24 h and, after eye drop dosing the dAb was detectable in aqueous and conjunctiva. These preliminary data show that the intravitreal half-life of dAb's are similar to much larger antibody fragments, offering the potential to deliver significantly more drug to target on a molar basis with a single intravitreal injection potentially enabling dosing frequencies of once a month or less. Subconjunctival injection may provide short duration therapeutic levels of dAb to the anterior and posterior chamber whilst topical eye drop delivery of dAbs may be useful in front-of-eye disease. These data indicate that small domain antibodies may have utility in ophthalmology. Further studies are warranted. Copyright © 2017 Elsevier Ltd. All rights reserved.

Robot-assisted training of the kinesthetic sense: enhancing proprioception after stroke.

PubMed

De Santis, Dalia; Zenzeri, Jacopo; Casadio, Maura; Masia, Lorenzo; Riva, Assunta; Morasso, Pietro; Squeri, Valentina

2014-01-01

Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority of neurological patients present both motor dysfunctions and impairments in kinesthesia, but traditional robot and virtual reality training techniques focus either in recovering motor functions or in assessing proprioceptive deficits. An open challenge is to implement effective and reliable tests and training protocols for proprioception that go beyond the mere position sense evaluation and exploit the intrinsic bidirectionality of the kinesthetic sense, which refers to both sense of position and sense of movement. Modulated haptic interaction has a leading role in promoting sensorimotor integration, and it is a natural way to enhance volitional effort. Therefore, we designed a preliminary clinical study to test a new proprioception-based motor training technique for augmenting kinesthetic awareness via haptic feedback. The feedback was provided by a robotic manipulandum and the test involved seven chronic hemiparetic subjects over 3 weeks. The protocol included evaluation sessions that consisted of a psychometric estimate of the subject's kinesthetic sensation, and training sessions, in which the subject executed planar reaching movements in the absence of vision and under a minimally assistive haptic guidance made by sequences of graded force pulses. The bidirectional haptic interaction between the subject and the robot was optimally adapted to each participant in order to achieve a uniform task difficulty over the workspace. All the subjects consistently improved in the perceptual scores as a consequence of training. Moreover, they could minimize the level of haptic guidance in time. Results suggest that the proposed method is effective in enhancing kinesthetic acuity, but the level of impairment may affect the ability of subjects to retain their improvement in time.

Robot-Assisted Training of the Kinesthetic Sense: Enhancing Proprioception after Stroke

PubMed Central

De Santis, Dalia; Zenzeri, Jacopo; Casadio, Maura; Masia, Lorenzo; Riva, Assunta; Morasso, Pietro; Squeri, Valentina

2015-01-01

Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority of neurological patients present both motor dysfunctions and impairments in kinesthesia, but traditional robot and virtual reality training techniques focus either in recovering motor functions or in assessing proprioceptive deficits. An open challenge is to implement effective and reliable tests and training protocols for proprioception that go beyond the mere position sense evaluation and exploit the intrinsic bidirectionality of the kinesthetic sense, which refers to both sense of position and sense of movement. Modulated haptic interaction has a leading role in promoting sensorimotor integration, and it is a natural way to enhance volitional effort. Therefore, we designed a preliminary clinical study to test a new proprioception-based motor training technique for augmenting kinesthetic awareness via haptic feedback. The feedback was provided by a robotic manipulandum and the test involved seven chronic hemiparetic subjects over 3 weeks. The protocol included evaluation sessions that consisted of a psychometric estimate of the subject’s kinesthetic sensation, and training sessions, in which the subject executed planar reaching movements in the absence of vision and under a minimally assistive haptic guidance made by sequences of graded force pulses. The bidirectional haptic interaction between the subject and the robot was optimally adapted to each participant in order to achieve a uniform task difficulty over the workspace. All the subjects consistently improved in the perceptual scores as a consequence of training. Moreover, they could minimize the level of haptic guidance in time. Results suggest that the proposed method is effective in enhancing kinesthetic acuity, but the level of impairment may affect the ability of subjects to retain their improvement in time. PMID:25601833

New Icosahedral Boron Carbide Semiconductors

NASA Astrophysics Data System (ADS)

Echeverria Mora, Elena Maria

Novel semiconductor boron carbide films and boron carbide films doped with aromatic compounds have been investigated and characterized. Most of these semiconductors were formed by plasma enhanced chemical vapor deposition. The aromatic compound additives used, in this thesis, were pyridine (Py), aniline, and diaminobenzene (DAB). As one of the key parameters for semiconducting device functionality is the metal contact and, therefore, the chemical interactions or band bending that may occur at the metal/semiconductor interface, X-ray photoemission spectroscopy has been used to investigate the interaction of gold (Au) with these novel boron carbide-based semiconductors. Both n- and p-type films have been tested and pure boron carbide devices are compared to those containing aromatic compounds. The results show that boron carbide seems to behave differently from other semiconductors, opening a way for new analysis and approaches in device's functionality. By studying the electrical and optical properties of these films, it has been found that samples containing the aromatic compound exhibit an improvement in the electron-hole separation and charge extraction, as well as a decrease in the band gap. The hole carrier lifetimes for each sample were extracted from the capacitance-voltage, C(V), and current-voltage, I(V), curves. Additionally, devices, with boron carbide with the addition of pyridine, exhibited better collection of neutron capture generated pulses at ZERO applied bias, compared to the pure boron carbide samples. This is consistent with the longer carrier lifetimes estimated for these films. The I-V curves, as a function of external magnetic field, of the pure boron carbide films and films containing DAB demonstrate that significant room temperature negative magneto-resistance (> 100% for pure samples, and > 50% for samples containing DAB) is possible in the resulting dielectric thin films. Inclusion of DAB is not essential for significant negative magneto-resistance, however, these results suggest practical device applications, especially as such effects are manifested in nanoscale films with facile fabrication. Overall, the greater negative magneto-resistance, when undoped with an aromatic, suggests a material with more defects and is consistent with a shorter carrier lifetime.

A pervasive visual-haptic framework for virtual delivery training.

PubMed

Abate, Andrea F; Acampora, Giovanni; Loia, Vincenzo; Ricciardi, Stefano; Vasilakos, Athanasios V

2010-03-01

Thanks to the advances of voltage regulator (VR) technologies and haptic systems, virtual simulators are increasingly becoming a viable alternative to physical simulators in medicine and surgery, though many challenges still remain. In this study, a pervasive visual-haptic framework aimed to the training of obstetricians and midwives to vaginal delivery is described. The haptic feedback is provided by means of two hand-based haptic devices able to reproduce force-feedbacks on fingers and arms, thus enabling a much more realistic manipulation respect to stylus-based solutions. The interactive simulation is not solely driven by an approximated model of complex forces and physical constraints but, instead, is approached by a formal modeling of the whole labor and of the assistance/intervention procedures performed by means of a timed automata network and applied to a parametrical 3-D model of the anatomy, able to mimic a wide range of configurations. This novel methodology is able to represent not only the sequence of the main events associated to either a spontaneous or to an operative childbirth process, but also to help in validating the manual intervention as the actions performed by the user during the simulation are evaluated according to established medical guidelines. A discussion on the first results as well as on the challenges still unaddressed is included.

DNA interactions of antitumor cisplatin analogs containing enantiomeric amine ligands.

PubMed Central

Malina, J; Hofr, C; Maresca, L; Natile, G; Brabec, V

2000-01-01

Modifications of natural DNA and synthetic oligodeoxyribonucleotide duplexes in a cell-free medium by analogs of antitumor cisplatin containing enantiomeric amine ligands, such as cis-[PtCl(2)(RR-DAB)] and cis-[PtCl(2)(SS-DAB)] (DAB = 2,3-diaminobutane), were studied by various methods of molecular biophysics and biophysical chemistry. These methods include DNA binding studies by pulse polarography and atomic absorption spectrophotometry, mapping of DNA adducts using transcription assay, interstrand cross-linking assay using gel electrophoresis under denaturing conditions, differential scanning calorimetry, chemical probing, and bending and unwinding studies of the duplexes containing single, site-specific cross-link. The major differences resulting from the modification of DNA by the two enantiomers are the thermodynamical destabilization and conformational distortions induced in DNA by the 1,2-d(GpG) intrastrand cross-link. It has been suggested that these differences are associated with a different biological activity of the two enantiomers observed previously. In addition, the results of the present work are also consistent with the view that formation of hydrogen bonds between the carbonyl oxygen of the guanine residues and the "quasi equatorial" hydrogen of the cis amine in the 1, 2-d(GpG) intrastrand cross-link plays an important role in determining the character of the distortion induced in DNA by this lesion. PMID:10733979

Multiple reference frames in haptic spatial processing

NASA Astrophysics Data System (ADS)

Volčič, R.

2008-08-01

The present thesis focused on haptic spatial processing. In particular, our interest was directed to the perception of spatial relations with the main focus on the perception of orientation. To this end, we studied haptic perception in different tasks, either in isolation or in combination with vision. The parallelity task, where participants have to match the orientations of two spatially separated bars, was used in its two-dimensional and three-dimensional versions in Chapter 2 and Chapter 3, respectively. The influence of non-informative vision and visual interference on performance in the parallelity task was studied in Chapter 4. A different task, the mental rotation task, was introduced in a purely haptic study in Chapter 5 and in a visuo-haptic cross-modal study in Chapter 6. The interaction of multiple reference frames and their influence on haptic spatial processing were the common denominators of these studies. In this thesis we approached the problems of which reference frames play the major role in haptic spatial processing and how the relative roles of distinct reference frames change depending on the available information and the constraints imposed by different tasks. We found that the influence of a reference frame centered on the hand was the major cause of the deviations from veridicality observed in both the two-dimensional and three-dimensional studies. The results were described by a weighted average model, in which the hand-centered egocentric reference frame is supposed to have a biasing influence on the allocentric reference frame. Performance in haptic spatial processing has been shown to depend also on sources of information or processing that are not strictly connected to the task at hand. When non-informative vision was provided, a beneficial effect was observed in the haptic performance. This improvement was interpreted as a shift from the egocentric to the allocentric reference frame. Moreover, interfering visual information presented in the vicinity of the haptic stimuli parametrically modulated the magnitude of the deviations. The influence of the hand-centered reference frame was shown also in the haptic mental rotation task where participants were quicker in judging the parity of objects when these were aligned with respect to the hands than when they were physically aligned. Similarly, in the visuo-haptic cross-modal mental rotation task the parity judgments were influenced by the orientation of the exploring hand with respect to the viewing direction. This effect was shown to be modulated also by an intervening temporal delay that supposedly counteracts the influence of the hand-centered reference frame. We suggest that the hand-centered reference frame is embedded in a hierarchical structure of reference frames where some of these emerge depending on the demands and the circumstances of the surrounding environment and the needs of an active perceiver.

Haptic/graphic rehabilitation: integrating a robot into a virtual environment library and applying it to stroke therapy.

PubMed

Sharp, Ian; Patton, James; Listenberger, Molly; Case, Emily

2011-08-08

Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other forms of biofeedback. Previous human-robot interactive systems have required different software commands to be implemented for each robot leading to unnecessary developmental overhead time each time a new system becomes available. For example, when a haptic/graphic virtual reality environment has been coded for one specific robot to provide haptic feedback, that specific robot would not be able to be traded for another robot without recoding the program. However, recent efforts in the open source community have proposed a wrapper class approach that can elicit nearly identical responses regardless of the robot used. The result can lead researchers across the globe to perform similar experiments using shared code. Therefore modular "switching out"of one robot for another would not affect development time. In this paper, we outline the successful creation and implementation of a wrapper class for one robot into the open-source H3DAPI, which integrates the software commands most commonly used by all robots.

Investigations into haptic space and haptic perception of shape for active touch

NASA Astrophysics Data System (ADS)

Sanders, A. F. J.

2008-12-01

This thesis presents a number of psychophysical investigations into haptic space and haptic perception of shape. Haptic perception is understood to include the two subsystems of the cutaneous sense and kinesthesis. Chapter 2 provides an extensive quantitative study into haptic perception of curvature. I investigated bimanual curvature discrimination of cylindrically curved, hand-sized surfaces. I found that discrimination thresholds were in the same range as unimanual thresholds reported in previous studies. Moreover, the distance between the surfaces or the position of the setup with respect to the observer had no effect on thresholds. Finally, I found idiosyncratic biases: A number of observers judged two surfaces that had different radii as equally curved. Biases were of the same order of magnitude as thresholds. In Chapter 3, I investigated haptic space. Here, haptic space is understood to be (1) the set of observer’s judgments of spatial relations in physical space, and (2) a set of constraints by which these judgments are internally consistent. I asked blindfolded observers to construct straight lines in a number of different tasks. I show that the shape of the haptically straight line depends on the task used to produce it. I therefore conclude that there is no unique definition of the haptically straight line and that doubts are cast on the usefulness of the concept of haptic space. In Chapter 4, I present a new experiment into haptic length perception. I show that when observers trace curved pathways with their index finger and judge distance traversed, their distance estimates depend on the geometry of the paths: Lengths of convex, cylindrically curved pathways were overestimated and lengths of concave pathways were underestimated. In addition, I show that a kinematic mechanism must underlie this interaction: (1) the geometry of the path traced by the finger affects movement speed and consequently movement time, and (2) movement time is taken as a measure of traversed length. The study presented in Chapter 5 addresses the question of how kinematic properties of exploratory movements affect perceived shape. I identify a kinematic invariant for the case of a single finger moving across cylindrically curved strips under conditions of slip. I found that the rotation angle of the finger increased linearly with the curvature of the stimulus. In addition, I show that observers took rotation angle as their primary measure of perceived curvature: Observers rotated their finger less on a concave curvature by a constant amount, and consequently, they overestimated the radius of the concave strips compared to the convex ones. Finally, in Chapter 6, I investigated the haptic filled-space illusion for dynamic touch: Observers move their fingertip across an unfilled extent or an extent filled with intermediate stimulations. Previous researchers have reported lengths of filled extents to be overestimated, but the parameters affecting the strength of the illusion are still largely unknown. Factors investigated in this chapter include end point effects, filler density and overall average movement speed.

The diagnostic adaptive behavior scale: evaluating its diagnostic sensitivity and specificity.

PubMed

Balboni, Giulia; Tassé, Marc J; Schalock, Robert L; Borthwick-Duffy, Sharon A; Spreat, Scott; Thissen, David; Widaman, Keith F; Zhang, Dalun; Navas, Patricia

2014-11-01

The Diagnostic Adaptive Behavior Scale (DABS) was constructed with items across three domains--conceptual, social, and practical adaptive skills--and normed on a representative sample of American individuals from 4 to 21 years of age. The DABS was developed to focus its assessment around the decision point for determining the presence or absence of significant limitations of adaptive behavior for the diagnosis of Intellectual Disability (ID). The purpose of this study, which was composed of 125 individuals with and 933 without an ID-related diagnosis, was to determine the ability of the DABS to correctly identify the individuals with and without ID (i.e., sensitivity and specificity). The results indicate that the DABS sensitivity coefficients ranged from 81% to 98%, specificity coefficients ranged from 89% to 91%, and that the Area Under the Receiver Operating Characteristic Curve were excellent or good. These results indicate that the DABS has very good levels of diagnostic efficiency. Copyright © 2014. Published by Elsevier Ltd.

The ATCRBS Mode of DABS

DTIC Science & Technology

1977-01-31

several new ieatuzes introduced by the DABS sensor . In particular, the employment of a monopulse antenna will permit both more accuxate azimutli...system; no capabilities are ballt in to sep’d, receive, or employ information from other sensors , arni no fornul interfaces to other ATC functions are...per scan. This will be made possible by utilizing the availability of several new features introduced by •he DABS sensor . In particular, the

A little "dab" will do ya' in: a case report of neuro-and cardiotoxicity following use of cannabis concentrates.

PubMed

Rickner, Shannon S; Cao, Dazhe; Kleinschmidt, Kurt; Fleming, Steven

2017-11-01

The use of marijuana and cannabis concentrates is increasing, especially following decriminalization in several states. Psychosis and cardiotoxicity have been reported following cannabis use; however, myocardial injury from "dabbing" has not yet been reported. We report a case of hyperthermia, tachycardia, hypertension, severe agitation, neuro-, and cardiotoxicity following the use of "dabs" where there is concomitant confirmatory biological and sample testing. A 17-year-old athletic man developed agitation requiring sedation and intubation for safety, with peak systolic blood pressures in the 190s and hyperthermia (to 102 °F). He developed elevated serum troponins with persistent tachycardia despite sedation and no clear non-intoxicant etiology. It was discovered that the patient had recently been "dabbing"; an exhaustive search of his home found a sample of the "dabs" which was analyzed along with a comprehensive urine drug screen by tandem liquid mass spectroscopy (t-LCMS) for confirmation. Tetrahydrocannabinol (THC) has been increasingly associated with agitation and cardiotoxicity, while cannabidiol (CBD) has been associated with neuroprotective, inhibitory states. We propose that increasing concentrations of THC as well as THC:CBD ratios seen in cannabis concentrates such as "dabs" may cause agitation and end-organ damage through sympathomimetic and serotonergic pathways.

Does the parasite-mediated selection drive the MHC class IIB diversity in wild populations of European chub (Squalius cephalus)?

PubMed

Seifertová, Mária; Jarkovský, Jiří; Šimková, Andrea

2016-04-01

The genes of major histocompatibility complex (MHC) provide an excellent opportunity to study host-parasite relationships because they are expected to evolve in response to parasites and variation in parasite communities. In this study, we investigated the potential role of parasite-mediated selection acting on MHC class IIB (DAB) genes in European chub (Squalius cephalus) natural populations. We found significant differences between populations in metazoan parasites, neutral and adaptive genetic diversities. The analyses based on pairwise data revealed that populations with dissimilar MHC allelic profiles were geographically distant populations with significantly different diversity in microsatellites and a dissimilar composition of parasite communities. The results from the generalized estimating equations method (GEE) on the level of individuals revealed that metazoan parasite load in European chub was influenced by the diversity of DAB alleles as well as by the diversity of neutral genetic markers and host traits reflecting condition and immunocompetence. The multivariate co-inertia analysis showed specific associations between DAB alleles and parasite species. DAB1-like alleles were more involved in associations with ectoparasites, while DAB3-like alleles were positively associated with endoparasites which could suggest potential differences between DAB genes caused by different selection pressure. Our study revealed that parasite-mediated selection is not the only variable affecting MHC diversity in European chub; however, we strongly support the role of neutral processes as the main driver of DAB diversity across populations. In addition, our study contributes to the understanding of the evolution of MHC genes in wild living fish.

Evaluation of haptic interfaces for simulation of drill vibration in virtual temporal bone surgery.

PubMed

Ghasemloonia, Ahmad; Baxandall, Shalese; Zareinia, Kourosh; Lui, Justin T; Dort, Joseph C; Sutherland, Garnette R; Chan, Sonny

2016-11-01

Surgical training is evolving from an observership model towards a new paradigm that includes virtual-reality (VR) simulation. In otolaryngology, temporal bone dissection has become intimately linked with VR simulation as the complexity of anatomy demands a high level of surgeon aptitude and confidence. While an adequate 3D visualization of the surgical site is available in current simulators, the force feedback rendered during haptic interaction does not convey vibrations. This lack of vibration rendering limits the simulation fidelity of a surgical drill such as that used in temporal bone dissection. In order to develop an immersive simulation platform capable of haptic force and vibration feedback, the efficacy of hand controllers for rendering vibration in different drilling circumstances needs to be investigated. In this study, the vibration rendering ability of four different haptic hand controllers were analyzed and compared to find the best commercial haptic hand controller. A test-rig was developed to record vibrations encountered during temporal bone dissection and a software was written to render the recorded signals without adding hardware to the system. An accelerometer mounted on the end-effector of each device recorded the rendered vibration signals. The newly recorded vibration signal was compared with the input signal in both time and frequency domains by coherence and cross correlation analyses to quantitatively measure the fidelity of these devices in terms of rendering vibrotactile drilling feedback in different drilling conditions. This method can be used to assess the vibration rendering ability in VR simulation systems and selection of ideal haptic devices. Copyright © 2016 Elsevier Ltd. All rights reserved.

Emotion Telepresence: Emotion Augmentation through Affective Haptics and Visual Stimuli

NASA Astrophysics Data System (ADS)

Tsetserukou, D.; Neviarouskaya, A.

2012-03-01

The paper focuses on a novel concept of emotional telepresence. The iFeel_IM! system which is in the vanguard of this technology integrates 3D virtual world Second Life, intelligent component for automatic emotion recognition from text messages, and innovative affective haptic interfaces providing additional nonverbal communication channels through simulation of emotional feedback and social touch (physical co-presence). Users can not only exchange messages but also emotionally and physically feel the presence of the communication partner (e.g., family member, friend, or beloved person). The next prototype of the system will include the tablet computer. The user can realize haptic interaction with avatar, and thus influence its mood and emotion of the partner. The finger gesture language will be designed for communication with avatar. This will bring new level of immersion of on-line communication.

Shared control of a medical robot with haptic guidance.

PubMed

Xiong, Linfei; Chng, Chin Boon; Chui, Chee Kong; Yu, Peiwu; Li, Yao

2017-01-01

Tele-operation of robotic surgery reduces the radiation exposure during the interventional radiological operations. However, endoscope vision without force feedback on the surgical tool increases the difficulty for precise manipulation and the risk of tissue damage. The shared control of vision and force provides a novel approach of enhanced control with haptic guidance, which could lead to subtle dexterity and better maneuvrability during MIS surgery. The paper provides an innovative shared control method for robotic minimally invasive surgery system, in which vision and haptic feedback are incorporated to provide guidance cues to the clinician during surgery. The incremental potential field (IPF) method is utilized to generate a guidance path based on the anatomy of tissue and surgical tool interaction. Haptic guidance is provided at the master end to assist the clinician during tele-operative surgical robotic task. The approach has been validated with path following and virtual tumor targeting experiments. The experiment results demonstrate that comparing with vision only guidance, the shared control with vision and haptics improved the accuracy and efficiency of surgical robotic manipulation, where the tool-position error distance and execution time are reduced. The validation experiment demonstrates that the shared control approach could help the surgical robot system provide stable assistance and precise performance to execute the designated surgical task. The methodology could also be implemented with other surgical robot with different surgical tools and applications.

Neodymium:YAG laser cutting of intraocular lens haptics in vitro and in vivo.

PubMed

Feder, J M; Rosenberg, M A; Farber, M D

1989-09-01

Various complications following intraocular lens (IOL) surgery result in explantation of the lenses. Haptic fibrosis may necessitate cutting the IOL haptics prior to removal. In this study we used the neodymium: YAG (Nd:YAG) laser to cut polypropylene and poly(methyl methacrylate) (PMMA) haptics in vitro and in rabbit eyes. In vitro we were able to cut 100% of both haptic types successfully (28 PMMA and 30 polypropylene haptics). In rabbit eyes we were able to cut 50% of the PMMA haptics and 43% of the polypropylene haptics. Poly(methyl methacrylate) haptics were easier to cut in vitro and in vivo than polypropylene haptics, requiring fewer shots for transection. Complications of Nd:YAG laser use frequently interfered with haptic transections in rabbit eyes. Haptic transection may be more easily accomplished in human eyes.

‘In-Format’ screening of a novel bispecific antibody format reveals significant potency improvements relative to unformatted molecules

PubMed Central

Scott, Martin J.; Lee, Jennifer A.; Wake, Matthew S.; Batt, Kelly V.; Wattam, Trevor A.; Hiles, Ian D.; Batuwangala, Thil D.; Ashman, Claire I.; Steward, Michael

2017-01-01

ABSTRACT Bispecific antibodies (BsAbs) are emerging as an important class of biopharmaceutical. The majority of BsAbs are created from conventional antibodies or fragments engineered into more complex configurations. A recurring challenge in their development, however, is the identification of components that are optimised for inclusion in the final format in order to deliver both efficacy and robust biophysical properties. Using a modular BsAb format, the mAb-dAb, we assessed whether an ‘in-format’ screening approach, designed to select format-compatible domain antibodies, could expedite lead discovery. Human nerve growth factor (NGF) was selected as an antigen to validate the approach; domain antibody (dAb) libraries were screened, panels of binders identified, and binding affinities and potencies compared for selected dAbs and corresponding mAb-dAbs. A number of dAbs that exhibited high potency (IC50) when assessed in-format were identified. In contrast, the corresponding dAb monomers had ∼1000-fold lower potency than the formatted dAbs; such dAb monomers would therefore have been omitted from further characterization. Subsequent stoichiometric analyses of mAb-dAbs bound to NGF, or an additional target antigen (vascular endothelial growth factor), suggested different target binding modes; this indicates that the observed potency improvements cannot be attributed simply to an avidity effect offered by the mAb-dAb format. We conclude that, for certain antigens, screening naïve selection outputs directly in-format enables the identification of a subset of format-compatible dAbs, and that this offers substantial benefits in terms of molecular properties and development time. PMID:27786601

Redox-Active vs Redox-Innocent: A Comparison of Uranium Complexes Containing Diamine Ligands.

PubMed

Pattenaude, Scott A; Mullane, Kimberly C; Schelter, Eric J; Ferrier, Maryline G; Stein, Benjamin W; Bone, Sharon E; Lezama Pacheco, Juan S; Kozimor, Stosh A; Fanwick, Phillip E; Zeller, Matthias; Bart, Suzanne C

2018-05-11

Uranium complexes ( Mes DAE) 2 U(THF) (1-DAE) and Cp 2 U( Mes DAE) (2-DAE) ( Mes DAE = [ArN-CH 2 CH 2 -NAr]; Ar = 2,4,6-trimethylphenyl (Mes)), bearing redox-innocent diamide ligands, have been synthesized and characterized for a full comparison with previously published, redox-active diimine complexes, ( Mes DAB Me ) 2 U(THF) (1-DAB) and Cp 2 U( Mes DAB Me ) (2-DAB) ( Mes DAB Me = [ArN═C(Me)C(Me)═NAr]; Ar = Mes). These redox-innocent analogues maintain an analogous steric environment to their redox-active ligand counterparts to facilitate a study aimed at determining the differing electronic behavior around the uranium center. Structural analysis by X-ray crystallography showed 1-DAE and 2-DAE have a structural environment very similar to 1-DAB and 2-DAB, respectively. The main difference occurs with coordination of the ene-backbone to the uranium center in the latter species. Electronic absorption spectroscopy reveals these new DAE complexes are nearly identical to each other. X-ray absorption spectroscopy suggests all four species contain +4 uranium ions. The data also indicates that there is an electronic difference between the bis(diamide)-THF uranium complexes as opposed to those that only contain one diamide and two cyclopentadienyl rings. Finally, magnetic measurements reveal that all complexes display temperature-dependent behavior consistent with uranium(IV) ions that do not include ligand radicals. Overall, this study determines that there is no significant bonding difference between the redox-innocent and redox-active ligand frameworks on uranium. Furthermore, there are no data to suggest covalent bonding character using the latter ligand framework on uranium, despite what is known for transition metals.

"Time for dabs": Analyzing Twitter data on marijuana concentrates across the U.S.

PubMed

Daniulaityte, Raminta; Nahhas, Ramzi W; Wijeratne, Sanjaya; Carlson, Robert G; Lamy, Francois R; Martins, Silvia S; Boyer, Edward W; Smith, G Alan; Sheth, Amit

2015-10-01

Media reports suggest increasing popularity of marijuana concentrates ("dabs"; "earwax"; "budder"; "shatter; "butane hash oil") that are typically vaporized and inhaled via a bong, vaporizer or electronic cigarette. However, data on the epidemiology of marijuana concentrate use remain limited. This study aims to explore Twitter data on marijuana concentrate use in the U.S. and identify differences across regions of the country with varying cannabis legalization policies. Tweets were collected between October 20 and December 20, 2014, using Twitter's streaming API. Twitter data filtering framework was available through the eDrugTrends platform. Raw and adjusted percentages of dabs-related tweets per state were calculated. A permutation test was used to examine differences in the adjusted percentages of dabs-related tweets among U.S. states with different cannabis legalization policies. eDrugTrends collected a total of 125,255 tweets. Almost 22% (n=27,018) of these tweets contained identifiable state-level geolocation information. Dabs-related tweet volume for each state was adjusted using a general sample of tweets to account for different levels of overall tweeting activity for each state. Adjusted percentages of dabs-related tweets were highest in states that allowed recreational and/or medicinal cannabis use and lowest in states that have not passed medical cannabis use laws. The differences were statistically significant. Twitter data suggest greater popularity of dabs in the states that legalized recreational and/or medical use of cannabis. The study provides new information on the epidemiology of marijuana concentrate use and contributes to the emerging field of social media analysis for drug abuse research. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Optimisation of the enzyme-based determination of hydrogen peroxide using the quartz crystal microbalance.

PubMed

Martin, S P; Lynch, J M; Reddy, S M

2002-09-01

The benzidines, 3,3'-diaminobenzidine (DAB), 3,3'-dimethoxybenzidine (DMOB) and 3,3',5,5'-tetramethylbenzidine (TMB) were enzymatically oxidised to detect hydrogen peroxide, using the quartz crystal. The oxidised product mainly remains in suspension, resulting in a limited quartz sensor signal. We have used two non-ionic surfactants, Tween 80 and Triton X-100 to interact with the oxidised amphiphilic products to increase their solubility and surface activity, and their ability to adsorb to the crystal surface. Tween 80 exhibits optimised response effects for DAB, DMOB and TMB at 0.012, 0.005, and 0.002% (v/v), respectively, whereas Triton X-100 is optimum at 0.1, 0.2, and 0.006% (v/v), respectively. As a result, we have improved the quartz crystal sensor sensitivity to peroxide. The use of Triton X-100 gave an improved response time.

Severe Craniofacial Involvement due to Amniotic Band Sequence.

PubMed

Becerra-Solano, Luis Eduardo; Castañeda-Cisneros, Gema; Corona-Rivera, Jorge Roman; Díaz-Rodríguez, Manuel; Figuera, Luis Eduardo; López-Muñoz, Eunice; Nastasi-Catanese, José Antonio; Toscano-Flores, José Jesús; Ramírez-Dueñas, María de Lourdes; García-Ortíz, José Elias

2018-02-01

Disruptive amniotic band sequence (DABS) is a sporadic, non-familial disorder with unclear etiology. Diagnosis is based on clinical features because there is currently no reliable laboratory diagnostic tests. We describe six cases of DABS with severe craniofacial deformations, three with and three without classical constrictive limb deformation. The craniofacial deformities were delimited by peripheral sharply demarcated scarring. When a sharply demarcated linear disruptive craniofacial lesion is observed, DABS should be considered despite the absence of constrictive limb scarring.

Validity and reliability of the Diagnostic Adaptive Behaviour Scale.

PubMed

Tassé, M J; Schalock, R L; Balboni, G; Spreat, S; Navas, P

2016-01-01

The Diagnostic Adaptive Behaviour Scale (DABS) is a new standardised adaptive behaviour measure that provides information for evaluating limitations in adaptive behaviour for the purpose of determining a diagnosis of intellectual disability. This article presents validity evidence and reliability data for the DABS. Validity evidence was based on comparing DABS scores with scores obtained on the Vineland Adaptive Behaviour Scale, second edition. The stability of the test scores was measured using a test and retest, and inter-rater reliability was assessed by computing the inter-respondent concordance. The DABS convergent validity coefficients ranged from 0.70 to 0.84, while the test-retest reliability coefficients ranged from 0.78 to 0.95, and the inter-rater concordance as measured by intraclass correlation coefficients ranged from 0.61 to 0.87. All obtained validity and reliability indicators were strong and comparable with the validity and reliability coefficients of the most commonly used adaptive behaviour instruments. These results and the advantages of the DABS for clinician and researcher use are discussed. © 2015 MENCAP and International Association of the Scientific Study of Intellectual and Developmental Disabilities and John Wiley & Sons Ltd.

Metal Sounds Stiffer than Drums for Ears, but Not Always for Hands: Low-Level Auditory Features Affect Multisensory Stiffness Perception More than High-Level Categorical Information

PubMed Central

Liu, Juan; Ando, Hiroshi

2016-01-01

Most real-world events stimulate multiple sensory modalities simultaneously. Usually, the stiffness of an object is perceived haptically. However, auditory signals also contain stiffness-related information, and people can form impressions of stiffness from the different impact sounds of metal, wood, or glass. To understand whether there is any interaction between auditory and haptic stiffness perception, and if so, whether the inferred material category is the most relevant auditory information, we conducted experiments using a force-feedback device and the modal synthesis method to present haptic stimuli and impact sound in accordance with participants’ actions, and to modulate low-level acoustic parameters, i.e., frequency and damping, without changing the inferred material categories of sound sources. We found that metal sounds consistently induced an impression of stiffer surfaces than did drum sounds in the audio-only condition, but participants haptically perceived surfaces with modulated metal sounds as significantly softer than the same surfaces with modulated drum sounds, which directly opposes the impression induced by these sounds alone. This result indicates that, although the inferred material category is strongly associated with audio-only stiffness perception, low-level acoustic parameters, especially damping, are more tightly integrated with haptic signals than the material category is. Frequency played an important role in both audio-only and audio-haptic conditions. Our study provides evidence that auditory information influences stiffness perception differently in unisensory and multisensory tasks. Furthermore, the data demonstrated that sounds with higher frequency and/or shorter decay time tended to be judged as stiffer, and contact sounds of stiff objects had no effect on the haptic perception of soft surfaces. We argue that the intrinsic physical relationship between object stiffness and acoustic parameters may be applied as prior knowledge to achieve robust estimation of stiffness in multisensory perception. PMID:27902718

Perception-based 3D tactile rendering from a single image for human skin examinations by dynamic touch.

PubMed

Kim, K; Lee, S

2015-05-01

Diagnosis of skin conditions is dependent on the assessment of skin surface properties that are represented by more tactile properties such as stiffness, roughness, and friction than visual information. Due to this reason, adding tactile feedback to existing vision based diagnosis systems can help dermatologists diagnose skin diseases or disorders more accurately. The goal of our research was therefore to develop a tactile rendering system for skin examinations by dynamic touch. Our development consists of two stages: converting a single image to a 3D haptic surface and rendering the generated haptic surface in real-time. Converting to 3D surfaces from 2D single images was implemented with concerning human perception data collected by a psychophysical experiment that measured human visual and haptic sensibility to 3D skin surface changes. For the second stage, we utilized real skin biomechanical properties found by prior studies. Our tactile rendering system is a standalone system that can be used with any single cameras and haptic feedback devices. We evaluated the performance of our system by conducting an identification experiment with three different skin images with five subjects. The participants had to identify one of the three skin surfaces by using a haptic device (Falcon) only. No visual cue was provided for the experiment. The results indicate that our system provides sufficient performance to render discernable tactile rendering with different skin surfaces. Our system uses only a single skin image and automatically generates a 3D haptic surface based on human haptic perception. Realistic skin interactions can be provided in real-time for the purpose of skin diagnosis, simulations, or training. Our system can also be used for other applications like virtual reality and cosmetic applications. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Aggregation behavior of sodium lauryl ether sulfate with a positively bicharged organic salt and effects of the mixture on fluorescent properties of conjugated polyelectrolytes.

PubMed

Tang, Yongqiang; Liu, Zhang; Zhu, Linyi; Han, Yuchun; Wang, Yilin

2015-02-24

The aggregation behavior of anionic single-chain surfactant sodium lauryl ether sulfate containing three ether groups (SLE3S) with positively bicharged organic salt 1,2-bis(2-benzylammoniumethoxy)ethane dichloride (BEO) has been investigated in aqueous solution, and the effects of the BEO/SLE3S aggregate transitions on the fluorescent properties of anionic conjugated polyelectrolyte MPS-PPV with a larger molecular weight and cationic conjugated oligoelectrolyte DAB have been evaluated. Without BEO, SLE3S does not affect the fluorescent properties of MPS-PPV and only affects the fluorescent properties of DAB at a higher SLE3S concentration. With the addition of BEO, SLE3S and BEO form gemini-like surfactant (SLE3S)2-BEO. When the BEO/SLE3S molar ratio is fixed at 0.25, with increasing the BEO/SLE3S concentration, the BEO/SLE3S mixture forms large, loosely arranged aggregates and then transforms to closely packed spherical aggregates and finally to long thread-like micelles. The photoluminescence (PL) intensity of MPS-PPV varies with the morphologies of the BEO/SLE3S aggregates, while the PL intensity of DAB is almost independent of the aggregate morphologies. The results demonstrate that gemini-like surfactants formed through intermolecular interactions can effectively adjust the fluorescent properties of conjugated polyelectrolytes.

42 CFR 93.207 - Departmental Appeals Board or DAB.

Code of Federal Regulations, 2010 CFR

2010-10-01

... ASSESSMENTS AND HEALTH EFFECTS STUDIES OF HAZARDOUS SUBSTANCES RELEASES AND FACILITIES PUBLIC HEALTH SERVICE POLICIES ON RESEARCH MISCONDUCT Definitions § 93.207 Departmental Appeals Board or DAB. Departmental...

42 CFR 93.207 - Departmental Appeals Board or DAB.

Code of Federal Regulations, 2011 CFR

2011-10-01

... ASSESSMENTS AND HEALTH EFFECTS STUDIES OF HAZARDOUS SUBSTANCES RELEASES AND FACILITIES PUBLIC HEALTH SERVICE POLICIES ON RESEARCH MISCONDUCT Definitions § 93.207 Departmental Appeals Board or DAB. Departmental...

Adaptive space warping to enhance passive haptics in an arthroscopy surgical simulator.

PubMed

Spillmann, Jonas; Tuchschmid, Stefan; Harders, Matthias

2013-04-01

Passive haptics, also known as tactile augmentation, denotes the use of a physical counterpart to a virtual environment to provide tactile feedback. Employing passive haptics can result in more realistic touch sensations than those from active force feedback, especially for rigid contacts. However, changes in the virtual environment would necessitate modifications of the physical counterparts. In recent work space warping has been proposed as one solution to overcome this limitation. In this technique virtual space is distorted such that a variety of virtual models can be mapped onto one single physical object. In this paper, we propose as an extension adaptive space warping; we show how this technique can be employed in a mixed-reality surgical training simulator in order to map different virtual patients onto one physical anatomical model. We developed methods to warp different organ geometries onto one physical mock-up, to handle different mechanical behaviors of the virtual patients, and to allow interactive modifications of the virtual structures, while the physical counterparts remain unchanged. Various practical examples underline the wide applicability of our approach. To the best of our knowledge this is the first practical usage of such a technique in the specific context of interactive medical training.

Analysis of haptic information in the cerebral cortex

PubMed Central

2016-01-01

Haptic sensing of objects acquires information about a number of properties. This review summarizes current understanding about how these properties are processed in the cerebral cortex of macaques and humans. Nonnoxious somatosensory inputs, after initial processing in primary somatosensory cortex, are partially segregated into different pathways. A ventrally directed pathway carries information about surface texture into parietal opercular cortex and thence to medial occipital cortex. A dorsally directed pathway transmits information regarding the location of features on objects to the intraparietal sulcus and frontal eye fields. Shape processing occurs mainly in the intraparietal sulcus and lateral occipital complex, while orientation processing is distributed across primary somatosensory cortex, the parietal operculum, the anterior intraparietal sulcus, and a parieto-occipital region. For each of these properties, the respective areas outside primary somatosensory cortex also process corresponding visual information and are thus multisensory. Consistent with the distributed neural processing of haptic object properties, tactile spatial acuity depends on interaction between bottom-up tactile inputs and top-down attentional signals in a distributed neural network. Future work should clarify the roles of the various brain regions and how they interact at the network level. PMID:27440247

Biosorption of Methylene Blue by De-Oiled Algal Biomass: Equilibrium, Kinetics and Artificial Neural Network Modelling

PubMed Central

Maurya, Rahulkumar; Ghosh, Tonmoy; Paliwal, Chetan; Shrivastav, Anupama; Chokshi, Kaumeel; Pancha, Imran; Ghosh, Arup; Mishra, Sandhya

2014-01-01

The main objective of the present study is to effectively utilize the de-oiled algal biomass (DAB) to minimize the waste streams from algal biofuel by using it as an adsorbent. Methylene blue (MB) was used as a sorbate for evaluating the potential of DAB as a biosorbent. The DAB was characterized by SEM, FTIR, pHPZC, particle size, pore volume and pore diameter to understand the biosorption mechanism. The equilibrium studies were carried out by variation in different parameters, i.e., pH (2–9), temperature (293.16–323.16 K), biosorbent dosage (1–10 g L−1), contact time (0–1,440 min), agitation speed (0–150 rpm) and dye concentration (25–2,500 mg L−1). MB removal was greater than 90% in both acidic and basic pH. The optimum result of MB removal was found at 5–7 g L−1 DAB concentration. DAB removes 86% dye in 5 minutes under static conditions and nearly 100% in 24 hours when agitated at 150 rpm. The highest adsorption capacity was found 139.11 mg g−1 at 2,000 mg L−1 initial MB concentration. The process attained equilibrium in 24 hours. It is an endothermic process whose spontaneity increases with temperature. MB biosorption by DAB follows pseudo-second order kinetics. Artificial neural network (ANN) model also validates the experimental dye removal efficiency (R2 = 0.97) corresponding with theoretically predicted values. Sensitivity analysis suggests that temperature and agitation speed affect the process most with 23.62% and 21.08% influence on MB biosorption, respectively. Dye adsorption capacity of DAB in fixed bed column was 107.57 mg g−1 in preliminary study while it went up to 139.11 mg g−1 in batch studies. The probable mechanism for biosorption in this study is chemisorptions via surface active charges in the initial phase followed by physical sorption by occupying pores of DAB. PMID:25310576

A wearable skin stretch haptic feedback device: Towards improving balance control in lower limb amputees.

PubMed

Husman, M A B; Maqbool, H F; Awad, M I; Abouhossein, A; Dehghani-Sanij, A A

2016-08-01

Haptic feedback to lower limb amputees is essential to maximize the functionality of a prosthetic device by providing information to the user about the interaction with the environment and the position of the prostheses in space. Severed sensory pathway and the absence of connection between the prosthesis and the Central Nervous System (CNS) after lower limb amputation reduces balance control, increases visual dependency and increases risk of falls among amputees. This work describes the design of a wearable haptic feedback device for lower limb amputees using lateral skin-stretch modality intended to serve as a feedback cue during ambulation. A feedback scheme was proposed based on gait event detection for possible real-time postural adjustment. Preliminary perceptual test with healthy subjects in static condition was carried out and the results indicated over 98% accuracy in determining stimuli location around the upper leg region, suggesting good perceptibility of the delivered stimuli.

Finite Element Methods for real-time Haptic Feedback of Soft-Tissue Models in Virtual Reality Simulators

NASA Technical Reports Server (NTRS)

Frank, Andreas O.; Twombly, I. Alexander; Barth, Timothy J.; Smith, Jeffrey D.; Dalton, Bonnie P. (Technical Monitor)

2001-01-01

We have applied the linear elastic finite element method to compute haptic force feedback and domain deformations of soft tissue models for use in virtual reality simulators. Our results show that, for virtual object models of high-resolution 3D data (>10,000 nodes), haptic real time computations (>500 Hz) are not currently possible using traditional methods. Current research efforts are focused in the following areas: 1) efficient implementation of fully adaptive multi-resolution methods and 2) multi-resolution methods with specialized basis functions to capture the singularity at the haptic interface (point loading). To achieve real time computations, we propose parallel processing of a Jacobi preconditioned conjugate gradient method applied to a reduced system of equations resulting from surface domain decomposition. This can effectively be achieved using reconfigurable computing systems such as field programmable gate arrays (FPGA), thereby providing a flexible solution that allows for new FPGA implementations as improved algorithms become available. The resulting soft tissue simulation system would meet NASA Virtual Glovebox requirements and, at the same time, provide a generalized simulation engine for any immersive environment application, such as biomedical/surgical procedures or interactive scientific applications.

Collision detection and modeling of rigid and deformable objects in laparoscopic simulator

NASA Astrophysics Data System (ADS)

Dy, Mary-Clare; Tagawa, Kazuyoshi; Tanaka, Hiromi T.; Komori, Masaru

2015-03-01

Laparoscopic simulators are viable alternatives for surgical training and rehearsal. Haptic devices can also be incorporated with virtual reality simulators to provide additional cues to the users. However, to provide realistic feedback, the haptic device must be updated by 1kHz. On the other hand, realistic visual cues, that is, the collision detection and deformation between interacting objects must be rendered at least 30 fps. Our current laparoscopic simulator detects the collision between a point on the tool tip, and on the organ surfaces, in which haptic devices are attached on actual tool tips for realistic tool manipulation. The triangular-mesh organ model is rendered using a mass spring deformation model, or finite element method-based models. In this paper, we investigated multi-point-based collision detection on the rigid tool rods. Based on the preliminary results, we propose a method to improve the collision detection scheme, and speed up the organ deformation reaction. We discuss our proposal for an efficient method to compute simultaneous multiple collision between rigid (laparoscopic tools) and deformable (organs) objects, and perform the subsequent collision response, with haptic feedback, in real-time.

The effects of pre-incubation period and norharman on the mutagenic potency of 4-dimethylaminoazobenzene and 3'-methyl-4-dimethylaminoazobenzene in S. typhimurium.

PubMed

Lefevre, P A; Ashby, J

1981-01-01

The effects of the co-mutagen norharman on the mutagenicity of the rodent liver carcinogens 4-dimethyl-aminoazobenzene (DAB) and 3'-methyl-4-dimethyl-aminoazobenzene (3'-MeDAB) have been evaluated using the Ames Salmonella mutation assay. A period of pre-incubation was found to be necessary in order to detect DAB as a mutagen and to increase the initially weak response observed for 3'MeDAB; maximum responses were seen after 1 h pre-incubation in each case. The co-mutagenic properties of norharman were at their maximum for both azo-dyes in the direct plate-incorporation assay. Pre-incubation of either compound with norharman for increasing periods of time resulted in a decrease in potentiation, until after 1 h, an inhibition of mutagenicity was observed.

Braccio di Ferro: a new haptic workstation for neuromotor rehabilitation.

PubMed

Casadio, Maura; Sanguineti, Vittorio; Morasso, Pietro G; Arrichiello, Vincenzo

2006-01-01

This technical note describes a new robotic workstation for neurological rehabilitation, shortly named Braccio di Ferro. It has been designed by having in mind the range of forces and the frequency bandwidth that characterize the interaction between a patient and a physical therapist, as well as a number of requirements that we think are essential for allowing a natural haptic interaction: back-driveability, very low friction and inertia, mechanical robustness, the possibility to operate in different planes, and an open software environment, which allows the operator to add new functionalities and design personalized rehabilitation protocols. Braccio di Ferro is an open system and, in the spirit of open source design, is intended to foster the dissemination of robot therapy. Moreover, its combination of features is not present in commercially available systems.

Genetic construction and properties of a diphtheria toxin-related substance P fusion protein: in vitro destruction of cells bearing substance P receptors.

PubMed Central

Fisher, C E; Sutherland, J A; Krause, J E; Murphy, J R; Leeman, S E; vanderSpek, J C

1996-01-01

We have genetically replaced the native receptor binding domain of diphtheria toxin with an extended form of substance P (SP): SP-glycine (SP-Gly). The resulting fusion protein, DAB389SP-Gly, is composed of the catalytic and transmembrane domains of diphtheria toxin genetically coupled to SP-Gly. Because native SP requires a C-terminal amide moiety to bind with high affinity to the SP receptor, the precursor form of the fusion toxin, DAB389SP-Gly, was converted to DAB389SP by treatment with peptidylglycine-alpha-amidating monooxygenase. We demonstrate that following conversion, DAB389SP is selectively cytotoxic for cell lines that express either the rat or the human SP receptor. We also demonstrate that the cytotoxic action of DAB389SP is mediated via the SP receptor and dependent upon passage through an acidic compartment. To our knowledge, this is the first reported use of a neuropeptide as the targeting ligand for a fusion toxin; and the first instance in which an inactive precursor form of a fusion toxin is converted to the active form by a posttranslational modification. Images Fig. 2 PMID:8692995

Control Strategies for the DAB Based PV Interface System

PubMed Central

El-Helw, Hadi M.; Al-Hasheem, Mohamed; Marei, Mostafa I.

2016-01-01

This paper presents an interface system based on the Dual Active Bridge (DAB) converter for Photovoltaic (PV) arrays. Two control strategies are proposed for the DAB converter to harvest the maximum power from the PV array. The first strategy is based on a simple PI controller to regulate the terminal PV voltage through the phase shift angle of the DAB converter. The Perturb and Observe (P&O) Maximum Power Point Tracking (MPPT) technique is utilized to set the reference of the PV terminal voltage. The second strategy presented in this paper employs the Artificial Neural Network (ANN) to directly set the phase shift angle of the DAB converter that results in harvesting maximum power. This feed-forward strategy overcomes the stability issues of the feedback strategy. The proposed PV interface systems are modeled and simulated using MATLAB/SIMULINK and the EMTDC/PSCAD software packages. The simulation results reveal accurate and fast response of the proposed systems. The dynamic performance of the proposed feed-forward strategy outdoes that of the feedback strategy in terms of accuracy and response time. Moreover, an experimental prototype is built to test and validate the proposed PV interface system. PMID:27560138

Functional Utilization of DABS Data Link Discrete Address Beacon System

DOT National Transportation Integrated Search

1978-10-01

The report describes the output of a Task Force established by FAA Headquarters, SRDS, Robert Wedan, in June 1977 to study and recommend potential applications for Data Link to the DABS Experimentation Program

Recruitment of Foveal Retinotopic Cortex During Haptic Exploration of Shapes and Actions in the Dark.

PubMed

Monaco, Simona; Gallivan, Jason P; Figley, Teresa D; Singhal, Anthony; Culham, Jody C

2017-11-29

The role of the early visual cortex and higher-order occipitotemporal cortex has been studied extensively for visual recognition and to a lesser degree for haptic recognition and visually guided actions. Using a slow event-related fMRI experiment, we investigated whether tactile and visual exploration of objects recruit the same "visual" areas (and in the case of visual cortex, the same retinotopic zones) and if these areas show reactivation during delayed actions in the dark toward haptically explored objects (and if so, whether this reactivation might be due to imagery). We examined activation during visual or haptic exploration of objects and action execution (grasping or reaching) separated by an 18 s delay. Twenty-nine human volunteers (13 females) participated in this study. Participants had their eyes open and fixated on a point in the dark. The objects were placed below the fixation point and accordingly visual exploration activated the cuneus, which processes retinotopic locations in the lower visual field. Strikingly, the occipital pole (OP), representing foveal locations, showed higher activation for tactile than visual exploration, although the stimulus was unseen and location in the visual field was peripheral. Moreover, the lateral occipital tactile-visual area (LOtv) showed comparable activation for tactile and visual exploration. Psychophysiological interaction analysis indicated that the OP showed stronger functional connectivity with anterior intraparietal sulcus and LOtv during the haptic than visual exploration of shapes in the dark. After the delay, the cuneus, OP, and LOtv showed reactivation that was independent of the sensory modality used to explore the object. These results show that haptic actions not only activate "visual" areas during object touch, but also that this information appears to be used in guiding grasping actions toward targets after a delay. SIGNIFICANCE STATEMENT Visual presentation of an object activates shape-processing areas and retinotopic locations in early visual areas. Moreover, if the object is grasped in the dark after a delay, these areas show "reactivation." Here, we show that these areas are also activated and reactivated for haptic object exploration and haptically guided grasping. Touch-related activity occurs not only in the retinotopic location of the visual stimulus, but also at the occipital pole (OP), corresponding to the foveal representation, even though the stimulus was unseen and located peripherally. That is, the same "visual" regions are implicated in both visual and haptic exploration; however, touch also recruits high-acuity central representation within early visual areas during both haptic exploration of objects and subsequent actions toward them. Functional connectivity analysis shows that the OP is more strongly connected with ventral and dorsal stream areas when participants explore an object in the dark than when they view it. Copyright © 2017 the authors 0270-6474/17/3711572-20$15.00/0.

New Engineering & Development Initiatives -- Policy and Technology Choices: Consensus Views of User/Aviation Industry Representatives. Volume I.

DTIC Science & Technology

1979-03-01

253 7.2 Enhancing MLS or ATARS 253 7.3 Weather Information 254 7.4 Other Safety Benefits 254 7.5 Human Factors 255 8.0 Pilot Training 256 8.1...Service (D)ABS/ ATARS ) in the terminal environment, what are the capacity/noise relation- ships under the new noise regulations at key hub airports, etc...whether manual or automatic, must be maintained at least during the DABS transition period and perhaps thereafter. Together with DABS/ ATARS the en

The DAB model of drawing processes

NASA Technical Reports Server (NTRS)

Hochhaus, Larry W.

1989-01-01

The problem of automatic drawing was investigated in two ways. First, a DAB model of drawing processes was introduced. DAB stands for three types of knowledge hypothesized to support drawing abilities, namely, Drawing Knowledge, Assimilated Knowledge, and Base Knowledge. Speculation concerning the content and character of each of these subsystems of the drawing process is introduced and the overall adequacy of the model is evaluated. Second, eight experts were each asked to understand six engineering drawings and to think aloud while doing so. It is anticipated that a concurrent protocol analysis of these interviews can be carried out in the future. Meanwhile, a general description of the videotape database is provided. In conclusion, the DAB model was praised as a worthwhile first step toward solution of a difficult problem, but was considered by and large inadequate to the challenge of automatic drawing. Suggestions for improvements on the model were made.

Characteristic analysis and simulation for polysilicon comb micro-accelerometer

NASA Astrophysics Data System (ADS)

Liu, Fengli; Hao, Yongping

2008-10-01

High force update rate is a key factor for achieving high performance haptic rendering, which imposes a stringent real time requirement upon the execution environment of the haptic system. This requirement confines the haptic system to simplified environment for reducing the computation cost of haptic rendering algorithms. In this paper, we present a novel "hyper-threading" architecture consisting of several threads for haptic rendering. The high force update rate is achieved with relatively large computation time interval for each haptic loop. The proposed method was testified and proved to be effective with experiments on virtual wall prototype haptic system via Delta Haptic Device.

The effects of perceptual priming on 4-year-olds' haptic-to-visual cross-modal transfer.

PubMed

Kalagher, Hilary

2013-01-01

Four-year-old children often have difficulty visually recognizing objects that were previously experienced only haptically. This experiment attempts to improve their performance in these haptic-to-visual transfer tasks. Sixty-two 4-year-old children participated in priming trials in which they explored eight unfamiliar objects visually, haptically, or visually and haptically together. Subsequently, all children participated in the same haptic-to-visual cross-modal transfer task. In this task, children haptically explored the objects that were presented in the priming phase and then visually identified a match from among three test objects, each matching the object on only one dimension (shape, texture, or color). Children in all priming conditions predominantly made shape-based matches; however, the most shape-based matches were made in the Visual and Haptic condition. All kinds of priming provided the necessary memory traces upon which subsequent haptic exploration could build a strong enough representation to enable subsequent visual recognition. Haptic exploration patterns during the cross-modal transfer task are discussed and the detailed analyses provide a unique contribution to our understanding of the development of haptic exploratory procedures.

Clinical and optical intraocular performance of rotationally asymmetric multifocal IOL plate-haptic design versus C-loop haptic design.

PubMed

Alió, Jorge L; Plaza-Puche, Ana B; Javaloy, Jaime; Ayala, María José; Vega-Estrada, Alfredo

2013-04-01

To compare the visual and intraocular optical quality outcomes with different designs of the refractive rotationally asymmetric multifocal intraocular lens (MFIOL) (Lentis Mplus; Oculentis GmbH, Berlin, Germany) with or without capsular tension ring (CTR) implantation. One hundred thirty-five consecutive eyes of 78 patients with cataract (ages 36 to 82 years) were divided into three groups: 43 eyes implanted with the C-Loop haptic design without CTR (C-Loop haptic only group); 47 eyes implanted with the C-Loop haptic design with CTR (C-Loop haptic with CTR group); and 45 eyes implanted with the plate-haptic design (plate-haptic group). Visual acuity, contrast sensitivity, defocus curve, and ocular and intraocular optical quality were evaluated at 3 months postoperatively. Significant differences in the postoperative sphere were found (P = .01), with a more myopic postoperative refraction for the C-Loop haptic only group. No significant differences were detected in photopic and scotopic contrast sensitivity among groups (P ⩾ .05). Significantly better visual acuities were present in the C-Loop haptic with CTR group for the defocus levels of -2.0, -1.5, -1.0, and -0.50 D (P ⩽.03). Statistically significant differences among groups were found in total intraocular root mean square (RMS), high-order intraocular RMS, and intraocular coma-like RMS aberrations (P ⩽.04), with lower values from the plate-haptic group. The plate-haptic design and the C-Loop haptic design with CTR implantation both allow good visual rehabilitation. However, better refractive predictability and intraocular optical quality was obtained with the plate-haptic design without CTR implantation. The plate-haptic design seems to be a better design to support rotational asymmetric MFIOL optics. Copyright 2013, SLACK Incorporated.

Limited value of haptics in virtual reality laparoscopic cholecystectomy training.

PubMed

Thompson, Jonathan R; Leonard, Anthony C; Doarn, Charles R; Roesch, Matt J; Broderick, Timothy J

2011-04-01

Haptics is an expensive addition to virtual reality (VR) simulators, and the added value to training has not been proven. This study evaluated the benefit of haptics in VR laparoscopic surgery training for novices. The Simbionix LapMentor II haptic VR simulator was used in the study. Randomly, 33 laparoscopic novice students were placed in one of three groups: control, haptics-trained, or nonhaptics-trained group. The control group performed nine basic laparoscopy tasks and four cholecystectomy procedural tasks one time with haptics engaged at the default setting. The haptics group was trained to proficiency in the basic tasks and then performed each of the procedural tasks one time with haptics engaged. The nonhaptics group used the same training protocol except that haptics was disengaged. The proficiency values used were previously published expert values. Each group was assessed in the performance of 10 laparoscopic cholecystectomies (alternating with and without haptics). Performance was measured via automatically collected simulator data. The three groups exhibited no differences in terms of sex, education level, hand dominance, video game experience, surgical experience, and nonsurgical simulator experience. The number of attempts required to reach proficiency did not differ between the haptics- and nonhaptics-training groups. The haptics and nonhaptics groups exhibited no difference in performance. Both training groups outperformed the control group in number of movements as well as path length of the left instrument. In addition, the nonhaptics group outperformed the control group in total time. Haptics does not improve the efficiency or effectiveness of LapMentor II VR laparoscopic surgery training. The limited benefit and the significant cost of haptics suggest that haptics should not be included routinely in VR laparoscopic surgery training.

Haptic-assistive technologies for audition and vision sensory disabilities.

PubMed

Sorgini, Francesca; Caliò, Renato; Carrozza, Maria Chiara; Oddo, Calogero Maria

2018-05-01

The aim of this review is to analyze haptic sensory substitution technologies for deaf, blind and deaf-blind individuals. The literature search has been performed in Scopus, PubMed and Google Scholar databases using selected keywords, analyzing studies from 1960s to present. Search on databases for scientific publications has been accompanied by web search for commercial devices. Results have been classified by sensory disability and functionality, and analyzed by assistive technology. Complementary analyses have also been carried out on websites of public international agencies, such as the World Health Organization (WHO), and of associations representing sensory disabled persons. The reviewed literature provides evidences that sensory substitution aids are able to mitigate in part the deficits in language learning, communication and navigation for deaf, blind and deaf-blind individuals, and that the tactile sense can be a means of communication to provide some kind of information to sensory disabled individuals. A lack of acceptance emerged from the discussion of capabilities and limitations of haptic assistive technologies. Future researches shall go towards miniaturized, custom-designed and low-cost haptic interfaces and integration with personal devices such as smartphones for a major diffusion of sensory aids among disabled. Implications for rehabilitation Systematic review of state of the art of haptic assistive technologies for vision and audition sensory disabilities. Sensory substitution systems for visual and hearing disabilities have a central role in the transmission of information for patients with sensory impairments, enabling users to interact with the not disabled community in daily activities. Visual and auditory inputs are converted in haptic feedback via different actuation technologies. The information is presented in the form of static or dynamic stimulation of the skin. Their effectiveness and ease of use make haptic sensory substitution systems suitable for patients with different levels of disabilities. They constitute a cheaper and less invasive alternative to implantable partial sensory restitution systems. Future researches are oriented towards the optimization of the stimulation parameters together with the development of miniaturized, custom-designed and low-cost aids operating in synergy in networks, aiming to increase patients' acceptability of these technologies.

Self-Control of Haptic Assistance for Motor Learning: Influences of Frequency and Opinion of Utility

PubMed Central

Williams, Camille K.; Tseung, Victrine; Carnahan, Heather

2017-01-01

Studies of self-controlled practice have shown benefits when learners controlled feedback schedule, use of assistive devices and task difficulty, with benefits attributed to information processing and motivational advantages of self-control. Although haptic assistance serves as feedback, aids task performance and modifies task difficulty, researchers have yet to explore whether self-control over haptic assistance could be beneficial for learning. We explored whether self-control of haptic assistance would be beneficial for learning a tracing task. Self-controlled participants selected practice blocks on which they would receive haptic assistance, while participants in a yoked group received haptic assistance on blocks determined by a matched self-controlled participant. We inferred learning from performance on retention tests without haptic assistance. From qualitative analysis of open-ended questions related to rationales for/experiences of the haptic assistance that was chosen/provided, themes emerged regarding participants’ views of the utility of haptic assistance for performance and learning. Results showed that learning was directly impacted by the frequency of haptic assistance for self-controlled participants only and view of haptic assistance. Furthermore, self-controlled participants’ views were significantly associated with their requested haptic assistance frequency. We discuss these findings as further support for the beneficial role of self-controlled practice for motor learning. PMID:29255438

[Postoperative ultrasound biomicroscopic evaluation of the tangible position of black diaphragm posterior chamber lenses in congenital and traumatic aniridia in comparison with gonioscopy].

PubMed

Schweykart, N; Reinhard, T; Engelhardt, S; Sundmacher, R

1999-06-01

Ultrasound biomicroscopy (UBM) allows to determine the haptic position of posterior chamber lenses (PCL) in relation to adjacent structures. In transsclerally sutured PCLs, the comparison between intraoperatively endoscopically and postoperatively localized haptic positions via UBM showed a correspondence of only 81%. The different localisation of 19% of the examined haptic positions was explained with postoperative dislocation without any proof for this assumption. The purpose of this study therefore was the correlation of UBM results with simultaneously determined haptic positions via gonioscopy in aniridia after black diaphragm PCL implantation. The haptic positions of black diaphragm PCL implants in 20 patients with congenital and 13 patients with traumatic aniridia were determined via UBM (50-MHz-probe) and gonioscopy 44.4 (6-75) months postoperatively. 39/66 haptic positions could be localized in gonioscopy as well as in UBM. 38 haptics (97.4%) showed the same position in both examination techniques. Determination of the haptic position through one of the two examination techniques was impossible in 27/66 haptics (11 haptics in gonioscopy, 16 haptics in UBM). Reasons for this were primarily haptic position behind iris remnants and corneal opacities in gonioscopy and scarring of the ciliary body in UBM. The validity of UBM in localization of PCLs was confirmed gonioscopically, which also confirms our prior assumption of postoperative displacement of IOL-haptics after transscleral suturing in about 20% of cases. Scarring of the ciliary body was the most important obstacle in the determination of PCL haptic positions in relation to adjacent structures.

A 3-RSR Haptic Wearable Device for Rendering Fingertip Contact Forces.

PubMed

Leonardis, Daniele; Solazzi, Massimiliano; Bortone, Ilaria; Frisoli, Antonio

2017-01-01

A novel wearable haptic device for modulating contact forces at the fingertip is presented. Rendering of forces by skin deformation in three degrees of freedom (DoF), with contact-no contact capabilities, was implemented through rigid parallel kinematics. The novel asymmetrical three revolute-spherical-revolute (3-RSR) configuration allowed compact dimensions with minimum encumbrance of the hand workspace. The device was designed to render constant to low frequency deformation of the fingerpad in three DoF, combining light weight with relatively high output forces. A differential method for solving the non-trivial inverse kinematics is proposed and implemented in real time for controlling the device. The first experimental activity evaluated discrimination of different fingerpad stretch directions in a group of five subjects. The second experiment, enrolling 19 subjects, evaluated cutaneous feedback provided in a virtual pick-and-place manipulation task. Stiffness of the fingerpad plus device was measured and used to calibrate the physics of the virtual environment. The third experiment with 10 subjects evaluated interaction forces in a virtual lift-and-hold task. Although with different performance in the two manipulation experiments, overall results show that participants better controlled interaction forces when the cutaneous feedback was active, with significant differences between the visual and visuo-haptic experimental conditions.

Haptic computer-assisted patient-specific preoperative planning for orthopedic fractures surgery.

PubMed

Kovler, I; Joskowicz, L; Weil, Y A; Khoury, A; Kronman, A; Mosheiff, R; Liebergall, M; Salavarrieta, J

2015-10-01

The aim of orthopedic trauma surgery is to restore the anatomy and function of displaced bone fragments to support osteosynthesis. For complex cases, including pelvic bone and multi-fragment femoral neck and distal radius fractures, preoperative planning with a CT scan is indicated. The planning consists of (1) fracture reduction-determining the locations and anatomical sites of origin of the fractured bone fragments and (2) fracture fixation-selecting and placing fixation screws and plates. The current bone fragment manipulation, hardware selection, and positioning processes based on 2D slices and a computer mouse are time-consuming and require a technician. We present a novel 3D haptic-based system for patient-specific preoperative planning of orthopedic fracture surgery based on CT scans. The system provides the surgeon with an interactive, intuitive, and comprehensive, planning tool that supports fracture reduction and fixation. Its unique features include: (1) two-hand haptic manipulation of 3D bone fragments and fixation hardware models; (2) 3D stereoscopic visualization and multiple viewing modes; (3) ligaments and pivot motion constraints to facilitate fracture reduction; (4) semiautomatic and automatic fracture reduction modes; and (5) interactive custom fixation plate creation to fit the bone morphology. We evaluate our system with two experimental studies: (1) accuracy and repeatability of manual fracture reduction and (2) accuracy of our automatic virtual bone fracture reduction method. The surgeons achieved a mean accuracy of less than 1 mm for the manual reduction and 1.8 mm (std [Formula: see text] 1.1 mm) for the automatic reduction. 3D haptic-based patient-specific preoperative planning of orthopedic fracture surgery from CT scans is useful and accurate and may have significant advantages for evaluating and planning complex fractures surgery.

Task-related enhancement in corticomotor excitability during haptic sensing with the contra- or ipsilateral hand in young and senior adults.

PubMed

Master, Sabah; Tremblay, François

2012-03-14

Haptic sensing with the fingers represents a unique class of manipulative actions, engaging motor, somatosensory and associative areas of the cortex while requiring only minimal forces and relatively simple movement patterns. Using transcranial magnetic stimulation (TMS), we investigated task-related changes in motor evoked potential (MEP) amplitude associated with unimanual haptic sensing in two related experiments. In Experiment I, we contrasted changes in the excitability of the hemisphere controlling the task hand in young and old adults under two trial conditions, i.e. when participants either touched a fine grating (smooth trials) or touched a coarse grating to detect its groove orientation (grating trials). In Experiment II, the same contrast between tasks was performed but with TMS applied over the hemisphere controlling the resting hand, while also addressing hemispheric (right vs. left) and age differences. In Experiment I, a main effect of trial type on MEP amplitude was detected (p = 0.001), MEPs in the task hand being ~50% larger during grating than smooth trials. No interaction with age was detected. Similar results were found for Experiment II, trial type having a large effect on MEP amplitude in the resting hand (p < 0.001) owing to selective increase in MEP size (~2.6 times greater) for grating trials. No interactions with age or side (right vs. left) were detected. Collectively, these results indicate that adding a haptic component to a simple unilateral finger action can elicit robust corticomotor facilitation not only in the working hemisphere but also in the opposite hemisphere. The fact that this facilitation seems well preserved with age, when task difficulty is adjusted, has some potential clinical implications.

Analysis of Morphogenic Effect of hDAB2IP on Prostate Cancer and its Disease Correlation

DTIC Science & Technology

2005-02-01

Ezh2 protein became more prominent 96 hrs RESULTS after transfection. Under this condition , Profiling hDAB2IP and Ezh2 the elevated levels of hDAB2IP...Pirrotta, V., Poux, S., Melfi, R., S., Vessella, R., Lin, D. L., and Pilyugin, M. (2003) Genetica Pienta, K. J. (2001) In Vivo. 15, 117:191-197 163-168...performed using iCycler machine (Bio-Rad) and the reaction condition was as follow: 95’C (3 min) and 40 cycles amplification cycle (95 0C [30 sec], 55°C

Diphtheria Antibodies and T lymphocyte Counts in Patients Infected With HIV-1.

PubMed

Speranza, Francisco A B; Ishii, Solange K; Thuler, Luiz C S; Damasco, Paulo V; Hirata, Raphael; Mattos-Guaraldi, Ana L; Milagres, Lucimar G

2012-07-01

We assessed the IgG levels anti-diphtheria (D-Ab) and T cell counts (CD4+ and CD8+) in HIV-1 infected subjects undergoing or not highly active antiretroviral therapy (HAART). Approximately 70% of all HIV-1 patients were unprotected against diphtheria. There were no differences in D-Ab according to CD4 counts. Untreated patients had higher D-Ab (geometric mean of 0.62 IU/ml) than HAART-patients (geometric mean of 0.39 IU/ml). The data indicated the necessity of keeping all HIV-1 patients up-to-date with their vaccination.

Diphtheria Antibodies and T lymphocyte Counts in Patients Infected With HIV-1

PubMed Central

Speranza, Francisco A. B.; Ishii, Solange K.; Thuler, Luiz C. S.; Damasco, Paulo V.; Jr, Raphael Hirata; Mattos-Guaraldi, Ana L.; Milagres, Lucimar G.

2012-01-01

We assessed the IgG levels anti-diphtheria (D-Ab) and T cell counts (CD4+ and CD8+) in HIV-1 infected subjects undergoing or not highly active antiretroviral therapy (HAART). Approximately 70% of all HIV-1 patients were unprotected against diphtheria. There were no differences in D-Ab according to CD4 counts. Untreated patients had higher D-Ab (geometric mean of 0.62 IU/ml) than HAART-patients (geometric mean of 0.39 IU/ml). The data indicated the necessity of keeping all HIV-1 patients up-to-date with their vaccination. PMID:24031911

Students' Development of Representational Competence Through the Sense of Touch

NASA Astrophysics Data System (ADS)

Magana, Alejandra J.; Balachandran, Sadhana

2017-06-01

Electromagnetism is an umbrella encapsulating several different concepts like electric current, electric fields and forces, and magnetic fields and forces, among other topics. However, a number of studies in the past have highlighted the poor conceptual understanding of electromagnetism concepts by students even after instruction. This study aims to identify novel forms of "hands-on" instruction that can result in representational competence and conceptual gain. Specifically, this study aimed to identify if the use of visuohaptic simulations can have an effect on student representations of electromagnetic-related concepts. The guiding questions is How do visuohaptic simulations influence undergraduate students' representations of electric forces? Participants included nine undergraduate students from science, technology, or engineering backgrounds who participated in a think-aloud procedure while interacting with a visuohaptic simulation. The think-aloud procedure was divided in three stages, a prediction stage, a minimally visual haptic stage, and a visually enhanced haptic stage. The results of this study suggest that students' accurately characterized and represented the forces felt around a particle, line, and ring charges either in the prediction stage, a minimally visual haptic stage or the visually enhanced haptic stage. Also, some students accurately depicted the three-dimensional nature of the field for each configuration in the two stages that included a tactile mode, where the point charge was the most challenging one.

Anthro-Centric Multisensory Interface for Sensory Augmentation of Tele-Surgery (ACMI-SATS)

DTIC Science & Technology

2010-09-01

surgeon from perceiving useful kinesthetic feedback from direct interaction with the tissues present in traditional “open” procedures. Additionally... Kinesthetic and haptic signals in surgical applications are critical, and prior work with VEs has shown that errors increase without realistic...telepresence related kinesthetic sensory interactions while tactile will refer to more general or abstract tactual interactions. Figure 2: (left

[Visual cuing effect for haptic angle judgment].

PubMed

Era, Ataru; Yokosawa, Kazuhiko

2009-08-01

We investigated whether visual cues are useful for judging haptic angles. Participants explored three-dimensional angles with a virtual haptic feedback device. For visual cues, we use a location cue, which synchronizes haptic exploration, and a space cue, which specifies the haptic space. In Experiment 1, angles were judged more correctly with both cues, but were overestimated with a location cue only. In Experiment 2, the visual cues emphasized depth, and overestimation with location cues occurred, but space cues had no influence. The results showed that (a) when both cues are presented, haptic angles are judged more correctly. (b) Location cues facilitate only motion information, and not depth information. (c) Haptic angles are apt to be overestimated when there is both haptic and visual information.

Improving manual skills in persons with disabilities (PWD) through a multimodal assistance system.

PubMed

Covarrubias, Mario; Gatti, Elia; Bordegoni, Monica; Cugini, Umberto; Mansutti, Alessandro

2014-07-01

In this research work, we present a Multimodal Guidance System (MGS) whose aim is to provide dynamic assistance to persons with disabilities (PWD) while performing manual activities such as drawing, coloring in and foam-cutting tasks. The MGS provides robotic assistance in the execution of 2D tasks through haptic and sound interactions. Haptic technology provides the virtual path of 2D shapes through the point-based approach, while sound technology provides audio feedback inputs related to the hand's velocity while sketching and filling or cutting operations. By combining this Multimodal System with the haptic assistance, we have created a new approach with possible applications to such diverse fields as physical rehabilitation, scientific investigation of sensorimotor learning and assessment of hand movements in PWD. The MGS has been tested by people with specific disorders affecting coordination, such as Down syndrome and developmental disabilities, under the supervision of their teachers and care assistants inside their learning environment. A Graphic User Interface has been designed for teachers and care assistants in order to provide training during the test sessions. Our results provide conclusive evidence that the effect of using the MGS increases the accuracy in the tasks operations. The Multimodal Guidance System (MGS) is an interface that offers haptic and sound feedback while performing manual tasks. Several studies demonstrated that the haptic guidance systems can help people in recovering cognitive function at different levels of complexity and impairment. The applications supported by our device could also have an important role in supporting physical therapist and cognitive psychologist in helping patients to recover motor and visuo-spatial abilities.

The use of haptic interfaces and web services in crystallography: an application for a `screen to beam' interface

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bruno, Andrew E.; Soares, Alexei S.; Owen, Robin L.

Haptic interfaces have become common in consumer electronics. They enable easy interaction and information entry without the use of a mouse or keyboard. Our work illustrates the application of a haptic interface to crystallization screening in order to provide a natural means for visualizing and selecting results. By linking this to a cloud-based database and web-based application program interface, the same application shifts the approach from `point and click' to `touch and share', where results can be selected, annotated and discussed collaboratively. Furthermore, in the crystallographic application, given a suitable crystallization plate, beamline and robotic end effector, the resulting informationmore » can be used to close the loop between screening and X-ray analysis, allowing a direct and efficient `screen to beam' approach. The application is not limited to the area of crystallization screening; `touch and share' can be used by any information-rich scientific analysis and geographically distributed collaboration.« less

The use of haptic interfaces and web services in crystallography: an application for a `screen to beam' interface

DOE PAGES

Bruno, Andrew E.; Soares, Alexei S.; Owen, Robin L.; ...

2016-11-11

Haptic interfaces have become common in consumer electronics. They enable easy interaction and information entry without the use of a mouse or keyboard. Our work illustrates the application of a haptic interface to crystallization screening in order to provide a natural means for visualizing and selecting results. By linking this to a cloud-based database and web-based application program interface, the same application shifts the approach from `point and click' to `touch and share', where results can be selected, annotated and discussed collaboratively. Furthermore, in the crystallographic application, given a suitable crystallization plate, beamline and robotic end effector, the resulting informationmore » can be used to close the loop between screening and X-ray analysis, allowing a direct and efficient `screen to beam' approach. The application is not limited to the area of crystallization screening; `touch and share' can be used by any information-rich scientific analysis and geographically distributed collaboration.« less

Generalized interactions using virtual tools within the spring framework: probing, piercing, cauterizing and ablating

NASA Technical Reports Server (NTRS)

Montgomery, Kevin; Bruyns, Cynthia D.

2002-01-01

We present schemes for real-time generalized interactions such as probing, piercing, cauterizing and ablating virtual tissues. These methods have been implemented in a robust, real-time (haptic rate) surgical simulation environment allowing us to model procedures including animal dissection, microsurgery, hysteroscopy, and cleft lip repair.

Dependence of RNA:DNA ratios and Fulton’s K condition indices on environmental characteristics of plaice and dab nursery grounds

NASA Astrophysics Data System (ADS)

De Raedemaecker, F.; Brophy, D.; O'Connor, I.; O'Neill, B.

2012-02-01

This field study showed a lack of a correlation between a morphometric (Fulton's K) and biochemical (RNA:DNA ratio) condition index in juvenile plaice ( Pleuronectes platessa) and dab ( Limanda limanda) studied to assess habitat quality in four sandy beach nursery grounds in Galway Bay, Ireland. Based on monthly surveys from June to September in 2008 and 2009, fish growth, indicated by RNA:DNA ratios and Fulton's K, displayed considerable spatio-temporal variability. Site-related patterns in Fulton's K for plaice and dab were consistent between years whereas RNA:DNA ratios displayed annual and interspecific variability among nursery habitats. This indicates a higher sensitivity of RNA:DNA ratios to short-term environmental fluctuations which is not apparent in Fulton's K measurements of juvenile flatfish. Generalized Additive Modelling (GAM) revealed non-linear relationships between the condition indices and (biotic and abiotic) habitat characteristics as well as diet features, derived from gut content analyses. Density of predators, sediment grain size and salinity were the most important predictors of both condition indices. Temperature also affected condition indices in dab whereas plaice condition indices varied with depth. Diet features did not contribute to the explained variability in the models predicting RNA:DNA ratios whereas certain prey groups significantly improved the explained variability in the models predicting Fulton's K of plaice and dab. The value of both indices for assessing fish condition and habitat quality in field studies is discussed. These findings aid understanding of the biological and physical mechanisms promoting fast growth and high survival which will help to identify high quality nursery areas for juvenile plaice and dab.

Development of amperometric lysine biosensors based on Au nanoparticles/multiwalled carbon nanotubes/polymers modified Au electrodes.

PubMed

Chauhan, Nidhi; Singh, Anamika; Narang, Jagriti; Dahiya, Swati; Pundir, C S

2012-11-07

The construction of two amperometric l-lysine biosensors is described in this study. The construction comprises the covalent immobilization of lysine oxidase (LOx) onto nanocomposite composed of gold nanoparticles (AuNPs) and carboxylated multiwalled carbon nanotubes (c-MWCNT), decorated on (i) polyaniline (PANI) and (ii) poly 1,2 diaminobenzene (DAB), electrodeposited on Au electrodes. The biosensors were characterized by scanning electron microscopy (SEM), Fourier transform infrared (FTIR) and electrochemical impedance spectroscopy (EIS) studies. The optimum response (current) was observed within 2 s at pH 7.0 and 25 °C for LOx/AuNPs/c-MWCNT/PANI/Au, and 4 s at pH 7.0 and 30 °C for LOx/AuNPs/c-MWCNT/DAB/Au electrodes. There was a linear relationship between current and lysine concentration ranging from 5.0 to 600 μM for LOx/AuNPs/c-MWCNT/PANI/Au with a detection limit of 5.0 μM, and 20 to 600 μM for the LOx/AuNPs/c-MWCNT/DAB/Au electrode with a detection limit of 20 μM. The PANI modified electrode was in good agreement with the standard HPLC method, with a better correlation (r = 0.992) compared to the DAB modified electrode (r = 0.986). These observations revealed that the PANI modified Au electrode was better than the DAB modified electrode, and hence it was employed for the determination of lysine in milk, pharmaceutical tablets and sera. The PANI modified electrode showed a half life of 120 days, compared to that of 90 days for the DAB modified electrode, after their 100 uses, when stored at 4 °C.

Perception of synchronization errors in haptic and visual communications

NASA Astrophysics Data System (ADS)

Kameyama, Seiji; Ishibashi, Yutaka

2006-10-01

This paper deals with a system which conveys the haptic sensation experimented by a user to a remote user. In the system, the user controls a haptic interface device with another remote haptic interface device while watching video. Haptic media and video of a real object which the user is touching are transmitted to another user. By subjective assessment, we investigate the allowable range and imperceptible range of synchronization error between haptic media and video. We employ four real objects and ask each subject whether the synchronization error is perceived or not for each object in the assessment. Assessment results show that we can more easily perceive the synchronization error in the case of haptic media ahead of video than in the case of the haptic media behind the video.

Active skin as new haptic interface

NASA Astrophysics Data System (ADS)

Vuong, Nguyen Huu Lam; Kwon, Hyeok Yong; Chuc, Nguyen Huu; Kim, Duksang; An, Kuangjun; Phuc, Vuong Hong; Moon, Hyungpil; Koo, Jachoon; Lee, Youngkwan; Nam, Jae-Do; Choi, Hyouk Ryeol

2010-04-01

In this paper, we present a new haptic interface, called "active skin", which is configured with a tactile sensor and a tactile stimulator in single haptic cell, and multiple haptic cells are embedded in a dielectric elastomer. The active skin generates a wide variety of haptic feel in response to the touch by synchronizing the sensor and the stimulator. In this paper, the design of the haptic cell is derived via iterative analysis and design procedures. A fabrication method dedicated to the proposed device is investigated and a controller to drive multiple haptic cells is developed. In addition, several experiments are performed to evaluate the performance of the active skin.

Enhanced Terminal Information Services (ETIS) Utilizing the Discrete Address Beacon System (DABS) Data Link - Concept Description

DOT National Transportation Integrated Search

1979-07-01

This report describes a concept for providing enhanced terminal information services (ETIS) to aircraft utilizing the ground-air-ground data link capability of the Discrete Address Beacon System (DABS). ETIS is envisioned as an eventual replacement f...

Cool Polar Bears: Dabbing on the Texture

ERIC Educational Resources Information Center

O'Connell, Jean

2011-01-01

In this article, the author describes how her second-graders created their cool polar bears. The students used the elements of shape and texture to create the bears. They used Monet's technique of dabbing paint so as to give the bear some texture on his fur.

Cadmium and phosphate variability during algal blooms of the dinoflagellate Lingulodinium polyedrum in Todos Santos Bay, Baja California, Mexico.

PubMed

Gutierrez-Mejia, E; Lares, M L; Huerta-Diaz, M A; Delgadillo-Hinojosa, F

2016-01-15

Dinoflagellate algal blooms (DABs), with Lingulodinium polyedrum as the dominant species, have increased over the past few years in coastal areas off Baja California, Mexico. Vertical and temporal variability of particulate cadmium (Cdp), dissolved Cd (Cdd), PO4(3-) and Cdd/PO4(3-) were investigated during two intense DABs of L. polyedrum that occurred during the fall of 2011 and 2012 in Todos Santos Bay. Results were then, compared with data gathered in the absence of algal blooms during the autumn of 2013. In both algal blooms, L. polyedrum tended to be concentrated near the surface throughout the duration; however, during DAB 2011 the number of cells was twice as abundant ([10.0 ± 8.0] × 10(5) cells L(-1)) as in DAB 2012 ([5.0 ± 4.4] × 10(5) cells L(-1)). During DAB 2011, Cdp increased significantly (up to 1.02 ± 0.99 nmol kg(-1)) and was positively correlated with the cell abundance of L. polyedrum, suggesting that this dinoflagellate is able to assimilate and concentrate Cdd. Likewise, Cdd (up to 0.71 ± 0.17 nM) increased in the days of highest cell abundance, which could be attributed to uptake and subsequent regeneration of Cdd resulting from the remineralization of organic particulate matter produced during the bloom, as well as with the presence of organic ligands secreted by L. polyedrum that could keep Cdd in solution. During DAB 2011, dissolved Cdd/PO4(3-) ratios exhibited high vertical and temporal variability in the upper 5 m of the water column, but remained virtually constant near the bottom, suggesting a depth-dependent decoupling between these two dissolved components during the bloom development. Given the observed differences in the vertical and temporal variability of Cdd, Cdp, and PO4(3-) between these two intense DABs, we propose the existence of an abundance threshold of approximately 10(6) cells L(-1) of L. polyedrum above which Cd and PO4(3-) significantly increased due to remineralization in coastal waters during the bloom development.

A comparison of haptic material perception in blind and sighted individuals.

PubMed

Baumgartner, Elisabeth; Wiebel, Christiane B; Gegenfurtner, Karl R

2015-10-01

We investigated material perception in blind participants to explore the influence of visual experience on material representations and the relationship between visual and haptic material perception. In a previous study with sighted participants, we had found participants' visual and haptic judgments of material properties to be very similar (Baumgartner, Wiebel, & Gegenfurtner, 2013). In a categorization task, however, visual exploration had led to higher categorization accuracy than haptic exploration. Here, we asked congenitally blind participants to explore different materials haptically and rate several material properties in order to assess the role of the visual sense for the emergence of haptic material perception. Principal components analyses combined with a procrustes superimposition showed that the material representations of blind and blindfolded sighted participants were highly similar. We also measured haptic categorization performance, which was equal for the two groups. We conclude that haptic material representations can emerge independently of visual experience, and that there are no advantages for either group of observers in haptic categorization. Copyright © 2015 Elsevier Ltd. All rights reserved.

Cannabis-induced psychosis associated with high potency "wax dabs".

PubMed

Pierre, Joseph M; Gandal, Michael; Son, Maya

2016-04-01

With mounting evidence that the risk of cannabis-induced psychosis may be related to both dose and potency of tetrahydrocannbinol (THC), increasing reports of psychosis associated with cannabinoids containing greater amounts of THC are anticipated. We report two cases of emergent psychosis after using a concentrated THC extract known as cannabis "wax," "oil," or "dabs" raising serious concerns about its psychotic liability. Although "dabbing" with cannabis wax is becoming increasingly popular in the US for both recreational and "medicinal" intentions, our cases raise serious concerns about its psychotic liability and highlight the importance of understanding this risk by physicians recommending cannabinoids for purported medicinal purposes. Published by Elsevier B.V.

The Transportable Measurements Facility (TMF) System Description.

DTIC Science & Technology

1980-05-23

sites using different antennas, antenna/site characterization, ATCRBS-mode and DABS-mode processor evaluation, and DABS-based ATC and ATARS system...conditions met. 34 TABLE 3 TMF DATA RECORDED DURING EXPERIMENTS By Word Type 1) By Parameter Word No. of Bits Experiment Number 8 Physical Location Number of

Body Image and Anti-Fat Attitudes: An Experimental Study Using a Haptic Virtual Reality Environment to Replicate Human Touch.

PubMed

Tremblay, Line; Roy-Vaillancourt, Mélina; Chebbi, Brahim; Bouchard, Stéphane; Daoust, Michael; Dénommée, Jessica; Thorpe, Moriah

2016-02-01

It is well documented that anti-fat attitudes influence the interactions individuals have with overweight people. However, testing attitudes through self-report measures is challenging. In the present study, we explore the use of a haptic virtual reality environment to physically interact with overweight virtual human (VH). We verify the hypothesis that duration and strength of virtual touch vary according to the characteristics of VH in ways similar to those encountered from interaction with real people in anti-fat attitude studies. A group of 61 participants were randomly assigned to one of the experimental conditions involving giving a virtual hug to a female or a male VH of either normal or overweight. We found significant associations between body image satisfaction and anti-fat attitudes and sex differences on these measures. We also found a significant interaction effect of the sex of the participants, sex of the VH, and the body size of the VH. Female participants hugged longer the overweight female VH than overweight male VH. Male participants hugged longer the normal-weight VH than the overweight VH. We conclude that virtual touch is a promising method of measuring attitudes, emotion and social interactions.

Force, Torque and Stiffness: Interactions in Perceptual Discrimination

PubMed Central

Wu, Bing; Klatzky, Roberta L.; Hollis, Ralph L.

2011-01-01

Three experiments investigated whether force and torque cues interact in haptic discrimination of force, torque and stiffness, and if so, how. The statistical relation between force and torque was manipulated across four experimental conditions: Either one type of cue varied while the other was constant, or both varied so as to be positively correlated, negatively correlated, or uncorrelated. Experiment 1 showed that the subjects’ ability to discriminate force was improved by positively correlated torque but impaired with uncorrelated torque, as compared to the constant torque condition. Corresponding effects were found in Experiment 2 for the influence of force on torque discrimination. These findings indicate that force and torque are integrated in perception, rather than being processed as separate dimensions. A further experiment demonstrated facilitation of stiffness discrimination by correlated force and torque, whether the correlation was positive or negative. The findings suggest new means of augmenting haptic feedback to facilitate perception of the properties of soft objects. PMID:21359137

Retinoids Modulate Expression of the Endocytic Partners Megalin, Cubilin, and Disabled-2 and Uptake of Vitamin D-Binding Protein in Human Mammary Cells12

PubMed Central

Chlon, Timothy M.; Taffany, David A.; Welsh, JoEllen; Rowling, Matthew J.

2008-01-01

The major circulating form of vitamin D, 25-hydroxycholecalciferol (25D3), circulates bound to vitamin D-binding protein (DBP). Prior to activation to 1,25-dihydroxycholecalciferol in the kidney, the 25D3-DBP complex is internalized via receptor-mediated endocytosis, which is absolutely dependent on the membrane receptors megalin and cubilin and the adaptor protein disabled-2 (Dab2). We recently reported that mammary epithelial cells (T-47D) expressing megalin, cubilin, and Dab2 rapidly internalize DBP via endocytosis, whereas cells that do not express all 3 proteins (MCF-7) do not. The objectives of this study were to characterize megalin, cubilin, and Dab2 expression and transport of DBP in human mammary epithelial cells. Using immunoblotting and real-time PCR, we found that megalin, cubilin, and Dab2 were expressed and dose dependently induced by all-trans-retinoic acid (RA) in T-47D human breast cancer cells and that RA-treated T-47D cells exhibited enhanced DBP internalization. These are the first studies to our knowledge to demonstrate that mammary epithelial cells express megalin, cubilin, and Dab2, which are enhanced during differentiation and may explain, at least in part, our finding that receptor-mediated endocytosis of DBP is upregulated in differentiated mammary epithelial cells. PMID:18567755

Abundance of megalin and Dab2 is reduced in syncytiotrophoblast during placental malaria, which may contribute to low birth weight

PubMed Central

Lybbert, Jared; Gullingsrud, Justin; Chesnokov, Olga; Turyakira, Eleanor; Dhorda, Mehul; Guerin, Philippe J.; Piola, Patrice; Muehlenbachs, Atis; Oleinikov, Andrew V.

2016-01-01

Placental malaria caused by Plasmodium falciparum contributes to ~200,000 child deaths annually, mainly due to low birth weight (LBW). Parasitized erythrocyte sequestration and consequent inflammation in the placenta are common attributes of placental malaria. The precise molecular details of placental changes leading to LBW are still poorly understood. We hypothesized that placental malaria may disturb maternofetal exchange of vitamins, lipids, and hormones mediated by the multi-ligand (n ~ 50) scavenging/signaling receptor megalin, which is abundantly expressed in placenta but was not previously analyzed in pregnancy outcomes. We studied abundance of megalin and its intracellular adaptor protein Dab2 by immunofluorescence microscopy in placental biopsies from Ugandan women with (n = 8) and without (n = 20) active placental malaria. We found that: (a) abundances of both megalin (p = 0.01) and Dab2 (p = 0.006) were significantly reduced in brush border of syncytiotrophoblast of infected placentas; (b) amounts of megalin and Dab2 were strongly correlated (Spearman’s r = 0.53, p = 0.003); (c) abundances of megalin and Dab2 (p = 0.046) were reduced in infected placentas from women with LBW deliveries. This study provides first evidence that placental malaria infection is associated with reduced abundance of megalin transport/signaling system and indicate that these changes may contribute to the pathology of LBW. PMID:27072056

Input and output for surgical simulation: devices to measure tissue properties in vivo and a haptic interface for laparoscopy simulators.

PubMed

Ottensmeyer, M P; Ben-Ur, E; Salisbury, J K

2000-01-01

Current efforts in surgical simulation very often focus on creating realistic graphical feedback, but neglect some or all tactile and force (haptic) feedback that a surgeon would normally receive. Simulations that do include haptic feedback do not typically use real tissue compliance properties, favoring estimates and user feedback to determine realism. When tissue compliance data are used, there are virtually no in vivo property measurements to draw upon. Together with the Center for Innovative Minimally Invasive Therapy at the Massachusetts General Hospital, the Haptics Group is developing tools to introduce more comprehensive haptic feedback in laparoscopy simulators and to provide biological tissue material property data for our software simulation. The platform for providing haptic feedback is a PHANToM Haptic Interface, produced by SensAble Technologies, Inc. Our devices supplement the PHANToM to provide for grasping and optionally, for the roll axis of the tool. Together with feedback from the PHANToM, which provides the pitch, yaw and thrust axes of a typical laparoscopy tool, we can recreate all of the haptic sensations experienced during laparoscopy. The devices integrate real laparoscopy toolhandles and a compliant torso model to complete the set of visual and tactile sensations. Biological tissues are known to exhibit non-linear mechanical properties, and change their properties dramatically when removed from a living organism. To measure the properties in vivo, two devices are being developed. The first is a small displacement, 1-D indenter. It will measure the linear tissue compliance (stiffness and damping) over a wide range of frequencies. These data will be used as inputs to a finite element or other model. The second device will be able to deflect tissues in 3-D over a larger range, so that the non-linearities due to changes in the tissue geometry will be measured. This will allow us to validate the performance of the model on large tissue deformations. Both devices are designed to pass through standard 12 mm laparoscopy trocars, and will be suitable for use during open or minimally invasive procedures. We plan to acquire data from pigs used by surgeons for training purposes, but conceivably, the tools could be refined for use on humans undergoing surgery. Our work will provide the necessary data input for surgical simulations to accurately model the force interactions that a surgeon would have with tissue, and will provide the force output to create a truly realistic simulation of minimally invasive surgery.

Haptics – Touchfeedback Technology Widening the Horizon of Medicine

PubMed Central

Kapoor, Shalini; Arora, Pallak; Kapoor, Vikas; Jayachandran, Mahesh; Tiwari, Manish

2014-01-01

Haptics, or touchsense haptic technology is a major breakthrough in medical and dental interventions. Haptic perception is the process of recognizing objects through touch. Haptic sensations are created by actuators or motors which generate vibrations to the users and are controlled by embedded software which is integrated into the device. It takes the advantage of a combination of somatosensory pattern of skin and proprioception of hand position. Anatomical and diagnostic knowledge, when it is combined with this touch sense technology, has revolutionized medical education. This amalgamation of the worlds of diagnosis and surgical intervention adds precise robotic touch to the skill of the surgeon. A systematic literature review was done by using MEDLINE, GOOGLE SEARCH AND PubMed. The aim of this article was to introduce the fundamentals of haptic technology, its current applications in medical training and robotic surgeries, limitations of haptics and future aspects of haptics in medicine. PMID:24783164

Saving and Reproduction of Human Motion Data by Using Haptic Devices with Different Configurations

NASA Astrophysics Data System (ADS)

Tsunashima, Noboru; Yokokura, Yuki; Katsura, Seiichiro

Recently, there has been increased focus on “haptic recording” development of a motion-copying system is an efficient method for the realization of haptic recording. Haptic recording involves saving and reproduction of human motion data on the basis of haptic information. To increase the number of applications of the motion-copying system in various fields, it is necessary to reproduce human motion data by using haptic devices with different configurations. In this study, a method for the above-mentioned haptic recording is developed. In this method, human motion data are saved and reproduced on the basis of work space information, which is obtained by coordinate transformation of motor space information. The validity of the proposed method is demonstrated by experiments. With the proposed method, saving and reproduction of human motion data by using various devices is achieved. Furthermore, it is also possible to use haptic recording in various fields.

47 CFR 73.402 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Digital Audio Broadcasting § 73.402 Definitions. (a) DAB. Digital audio broadcast stations are those radio... purposes. (b) In Band On Channel DAB System. A technical system in which a station's digital signal is... which transmits both the digital and analog signals within the spectral emission mask of a single AM or...

Training haptic stiffness discrimination: time course of learning with or without visual information and knowledge of results.

PubMed

Teodorescu, Kinneret; Bouchigny, Sylvain; Korman, Maria

2013-08-01

In this study, we explored the time course of haptic stiffness discrimination learning and how it was affected by two experimental factors, the addition of visual information and/or knowledge of results (KR) during training. Stiffness perception may integrate both haptic and visual modalities. However, in many tasks, the visual field is typically occluded, forcing stiffness perception to be dependent exclusively on haptic information. No studies to date addressed the time course of haptic stiffness perceptual learning. Using a virtual environment (VE) haptic interface and a two-alternative forced-choice discrimination task, the haptic stiffness discrimination ability of 48 participants was tested across 2 days. Each day included two haptic test blocks separated by a training block Additional visual information and/or KR were manipulated between participants during training blocks. Practice repetitions alone induced significant improvement in haptic stiffness discrimination. Between days, accuracy was slightly improved, but decision time performance was deteriorated. The addition of visual information and/or KR had only temporary effects on decision time, without affecting the time course of haptic discrimination learning. Learning in haptic stiffness discrimination appears to evolve through at least two distinctive phases: A single training session resulted in both immediate and latent learning. This learning was not affected by the training manipulations inspected. Training skills in VE in spaced sessions can be beneficial for tasks in which haptic perception is critical, such as surgery procedures, when the visual field is occluded. However, training protocols for such tasks should account for low impact of multisensory information and KR.

A kinesthetic washout filter for force-feedback rendering.

PubMed

Danieau, Fabien; Lecuyer, Anatole; Guillotel, Philippe; Fleureau, Julien; Mollet, Nicolas; Christie, Marc

2015-01-01

Today haptic feedback can be designed and associated to audiovisual content (haptic-audiovisuals or HAV). Although there are multiple means to create individual haptic effects, the issue of how to properly adapt such effects on force-feedback devices has not been addressed and is mostly a manual endeavor. We propose a new approach for the haptic rendering of HAV, based on a washout filter for force-feedback devices. A body model and an inverse kinematics algorithm simulate the user's kinesthetic perception. Then, the haptic rendering is adapted in order to handle transitions between haptic effects and to optimize the amplitude of effects regarding the device capabilities. Results of a user study show that this new haptic rendering can successfully improve the HAV experience.

Algorithms for Haptic Rendering of 3D Objects

NASA Technical Reports Server (NTRS)

Basdogan, Cagatay; Ho, Chih-Hao; Srinavasan, Mandayam

2003-01-01

Algorithms have been developed to provide haptic rendering of three-dimensional (3D) objects in virtual (that is, computationally simulated) environments. The goal of haptic rendering is to generate tactual displays of the shapes, hardnesses, surface textures, and frictional properties of 3D objects in real time. Haptic rendering is a major element of the emerging field of computer haptics, which invites comparison with computer graphics. We have already seen various applications of computer haptics in the areas of medicine (surgical simulation, telemedicine, haptic user interfaces for blind people, and rehabilitation of patients with neurological disorders), entertainment (3D painting, character animation, morphing, and sculpting), mechanical design (path planning and assembly sequencing), and scientific visualization (geophysical data analysis and molecular manipulation).

Structural impact detection with vibro-haptic interfaces

NASA Astrophysics Data System (ADS)

Jung, Hwee-Kwon; Park, Gyuhae; Todd, Michael D.

2016-07-01

This paper presents a new sensing paradigm for structural impact detection using vibro-haptic interfaces. The goal of this study is to allow humans to ‘feel’ structural responses (impact, shape changes, and damage) and eventually determine health conditions of a structure. The target applications for this study are aerospace structures, in particular, airplane wings. Both hardware and software components are developed to realize the vibro-haptic-based impact detection system. First, L-shape piezoelectric sensor arrays are deployed to measure the acoustic emission data generated by impacts on a wing. Unique haptic signals are then generated by processing the measured acoustic emission data. These haptic signals are wirelessly transmitted to human arms, and with vibro-haptic interface, human pilots could identify impact location, intensity and possibility of subsequent damage initiation. With the haptic interface, the experimental results demonstrate that human could correctly identify such events, while reducing false indications on structural conditions by capitalizing on human’s classification capability. Several important aspects of this study, including development of haptic interfaces, design of optimal human training strategies, and extension of the haptic capability into structural impact detection are summarized in this paper.

The visible ear simulator: a public PC application for GPU-accelerated haptic 3D simulation of ear surgery based on the visible ear data.

PubMed

Sorensen, Mads Solvsten; Mosegaard, Jesper; Trier, Peter

2009-06-01

Existing virtual simulators for middle ear surgery are based on 3-dimensional (3D) models from computed tomographic or magnetic resonance imaging data in which image quality is limited by the lack of detail (maximum, approximately 50 voxels/mm3), natural color, and texture of the source material.Virtual training often requires the purchase of a program, a customized computer, and expensive peripherals dedicated exclusively to this purpose. The Visible Ear freeware library of digital images from a fresh-frozen human temporal bone was segmented, and real-time volume rendered as a 3D model of high-fidelity, true color, and great anatomic detail and realism of the surgically relevant structures. A haptic drilling model was developed for surgical interaction with the 3D model. Realistic visualization in high-fidelity (approximately 125 voxels/mm3) and true color, 2D, or optional anaglyph stereoscopic 3D was achieved on a standard Core 2 Duo personal computer with a GeForce 8,800 GTX graphics card, and surgical interaction was provided through a relatively inexpensive (approximately $2,500) Phantom Omni haptic 3D pointing device. This prototype is published for download (approximately 120 MB) as freeware at http://www.alexandra.dk/ves/index.htm.With increasing personal computer performance, future versions may include enhanced resolution (up to 8,000 voxels/mm3) and realistic interaction with deformable soft tissue components such as skin, tympanic membrane, dura, and cholesteatomas-features some of which are not possible with computed tomographic-/magnetic resonance imaging-based systems.

A Broker-based approach for GEOSS authentication/authorization services

NASA Astrophysics Data System (ADS)

Santoro, Mattia; Nativi, Stefano

2015-04-01

The Group on Earth Observation (GEO) is a voluntary partnership of governments and international organizations coordinating efforts to build a Global Earth Observation System of Systems (GEOSS). GEOSS aims to achieve societal benefits through voluntary contribution and sharing of resources to better understand the relationships between the society and the environment where we live. The GEOSS Common Infrastructure (GCI) implements a digital infrastructure (e-infrastructure) that coordinates access to these systems, interconnecting and harmonizing their data, applications, models, and products. The GCI component implementing the needed interoperability arrangements to interconnect the data systems contributing to GEOSS is the GEO DAB (Discovery and Access Broker). This provides a unique entry point to which client applications (i.e. the portals and apps) can connect for exploiting (search, discover, and access) resources available through GCI. The GEO DAB implements the brokering approach (Nativi et al., 2013) to build a flexible and scalable System of Systems. GEOSS data providers ask for information about who accessed their resources and, in some cases, want to limit the data download. GEOSS users ask for a profiled interaction with the system based on their needs and expertise level. This raised the need for an enrichment of GEO DAB functionalities, i.e. user authentication/authorization. Besides, authentication and authorization is necessary for GEOSS to provide moderated social services - e.g. feedback messages, data "fit for use" comments, etc. In the development of this new functionality, the need to support existing and well-used users' credentials (e.g. Google, Twitter, etc.) stems from GEOSS principles to build on existing systems and lower entry-barriers for users. To cope with these requirements and face the heterogeneity of technologies used by the different data systems and client applications, a broker-based approach for the authentication/authorization was introduced as a new functionality of GEO DAB. This new capability was demonstrated at the last GEO XI Plenary (November 2014). This work will be presented and discussed. Refenrences Nativi, S.; Craglia, M.; Pearlman, J., "Earth Science Infrastructures Interoperability: The Brokering Approach," Selected Topics in Applied Earth Observations and Remote Sensing, IEEE Journal of , vol.6, no.3, pp.1118,1129, June 2013

GEOSS authentication/authorization services: a Broker-based approach

NASA Astrophysics Data System (ADS)

Santoro, M.; Nativi, S.

2014-12-01

The vision of the Global Earth Observation System of Systems (GEOSS) is the achievement of societal benefits through voluntary contribution and sharing of resources to better understand the relationships between the society and the environment where we live. The GEOSS Common Infrastructure (GCI) allows users to search, access, and use the resources contributed by the GEOSS members. The GEO DAB (Discovery and Access Broker) is the GCI component in charge of interconnecting the heterogeneous data systems contributing to GEOSS. Client applications (i.e. the portals and apps) can connect to GEO DAB as a unique entry point to discover and access resources available through GCI, with no need to implement the many service protocols and models applied by the GEOSS data providers. The GEO DAB implements the brokering approach (Nativi et al., 2013) to build a flexible and scalable System of Systems. User authentication/authorization functionality is becoming more and more important for GEOSS data providers and users. The Providers ask for information about who accessed their resources and, in some cases, want to limit the data download. The Users ask for a profiled interaction with the system based on their needs and expertise level. Besides, authentication and authorization is necessary for GEOSS to provide moderated social services - e.g. feedback messages, data "fit for use" comments, etc. In keeping with the GEOSS principles of building on existing systems and lowering entry-barriers for users, an objective of the authentication/authorization development was to support existing and well-used users' credentials (e.g. Google, Twitter, etc.). Due to the heterogeneity of technologies used by the different providers and applications, a broker-based approach for the authentication/authorization was introduced as a new functionality of GEO DAB. This new capability will be demonstrated at the next GEO XI Plenary (November 2014). This work will be presented and discussed. Refenrences Nativi, S.; Craglia, M.; Pearlman, J., "Earth Science Infrastructures Interoperability: The Brokering Approach," Selected Topics in Applied Earth Observations and Remote Sensing, IEEE Journal of , vol.6, no.3, pp.1118,1129, June 2013

ApoER2 and VLDLR in the developing human telencephalon.

PubMed

Cheng, Lin; Tian, Zhiliang; Sun, Ruizhen; Wang, Zhendong; Shen, Jingling; Shan, Zhiyan; Jin, Lianhong; Lei, Lei

2011-07-01

The Reelin-Dab1 signaling pathway plays a crucial role in regulating the migration and position of cortical neurons during the development of the cerebral cortex. Mutation in Reelin may result in severe developmental disorders such as autosomal recessive lissencephaly. Apolipoprotein E receptor type-2 (ApoER2) and very low-density lipoprotein receptor (VLDLR) are canonical receptors of Reelin, through which extracellular Reelin activates the intracellular adapter, Disabled1(Dab1), and subsequently interacts with other molecules. Although it is widely accepted that ApoER2 and VLDLR are indispensable components of the Reelin signaling pathway, little is known of their expression pattern in the laminated developing human brain. Here, we collected 18 cases of human fetal brains of 6-18 gestational weeks (GW) old and examined the expression of ApoER2 and VLDLR in the their telencephalon using immunocytochemical staining. We found that both receptors were absent in the preplate (PP) and the earliest stage of the cortical plate (CP). In later stages of CP development, ApoER2 was expressed earlier than VLDLR in the migrating neurons. Thus, the Reelin-Dab1 signaling pathway may not be involved in the formation of the preplate and deep layers of the CP. Instead, the pathway may act on neurons that are destined to form the more superficial layers of the CP. In addition, the pathway required ApoER2 only rather than both ApoER2 and VLDLR at the initiation of activity. Copyright © 2011 European Paediatric Neurology Society. Published by Elsevier Ltd. All rights reserved.

Building the Joint Battlespace Infosphere. Volume 2: Interactive Information Technologies

DTIC Science & Technology

1999-12-17

G. A . Vouros, “ A Knowledge- Based Methodology for Supporting Multilingual and User -Tailored Interfaces ,” Interacting With Computers, Vol. 9 (1998), p...project is to develop a two-handed user interface to the stereoscopic field analyzer, an interactive 3-D scientific visualization system. The...62 See http://www.hitl.washington.edu/research/vrd/. 63 R. Baumann and R. Clavel, “Haptic Interface for Virtual Reality Based

Development and Standardization of the Diagnostic Adaptive Behavior Scale: Application of Item Response Theory to the Assessment of Adaptive Behavior.

PubMed

Tassé, Marc J; Schalock, Robert L; Thissen, David; Balboni, Giulia; Bersani, Henry Hank; Borthwick-Duffy, Sharon A; Spreat, Scott; Widaman, Keith F; Zhang, Dalun; Navas, Patricia

2016-03-01

The Diagnostic Adaptive Behavior Scale (DABS) was developed using item response theory (IRT) methods and was constructed to provide the most precise and valid adaptive behavior information at or near the cutoff point of making a decision regarding a diagnosis of intellectual disability. The DABS initial item pool consisted of 260 items. Using IRT modeling and a nationally representative standardization sample, the item set was reduced to 75 items that provide the most precise adaptive behavior information at the cutoff area determining the presence or not of significant adaptive behavior deficits across conceptual, social, and practical skills. The standardization of the DABS is described and discussed.

End-to-End Flow Control for Visual-Haptic Communication under Bandwidth Change

NASA Astrophysics Data System (ADS)

Yashiro, Daisuke; Tian, Dapeng; Yakoh, Takahiro

This paper proposes an end-to-end flow controller for visual-haptic communication. A visual-haptic communication system transmits non-real-time packets, which contain large-size visual data, and real-time packets, which contain small-size haptic data. When the transmission rate of visual data exceeds the communication bandwidth, the visual-haptic communication system becomes unstable owing to buffer overflow. To solve this problem, an end-to-end flow controller is proposed. This controller determines the optimal transmission rate of visual data on the basis of the traffic conditions, which are estimated by the packets for haptic communication. Experimental results confirm that in the proposed method, a short packet-sending interval and a short delay are achieved under bandwidth change, and thus, high-precision visual-haptic communication is realized.

Preserved Haptic Shape Processing after Bilateral LOC Lesions.

PubMed

Snow, Jacqueline C; Goodale, Melvyn A; Culham, Jody C

2015-10-07

The visual and haptic perceptual systems are understood to share a common neural representation of object shape. A region thought to be critical for recognizing visual and haptic shape information is the lateral occipital complex (LOC). We investigated whether LOC is essential for haptic shape recognition in humans by studying behavioral responses and brain activation for haptically explored objects in a patient (M.C.) with bilateral lesions of the occipitotemporal cortex, including LOC. Despite severe deficits in recognizing objects using vision, M.C. was able to accurately recognize objects via touch. M.C.'s psychophysical response profile to haptically explored shapes was also indistinguishable from controls. Using fMRI, M.C. showed no object-selective visual or haptic responses in LOC, but her pattern of haptic activation in other brain regions was remarkably similar to healthy controls. Although LOC is routinely active during visual and haptic shape recognition tasks, it is not essential for haptic recognition of object shape. The lateral occipital complex (LOC) is a brain region regarded to be critical for recognizing object shape, both in vision and in touch. However, causal evidence linking LOC with haptic shape processing is lacking. We studied recognition performance, psychophysical sensitivity, and brain response to touched objects, in a patient (M.C.) with extensive lesions involving LOC bilaterally. Despite being severely impaired in visual shape recognition, M.C. was able to identify objects via touch and she showed normal sensitivity to a haptic shape illusion. M.C.'s brain response to touched objects in areas of undamaged cortex was also very similar to that observed in neurologically healthy controls. These results demonstrate that LOC is not necessary for recognizing objects via touch. Copyright © 2015 the authors 0270-6474/15/3513745-16$15.00/0.

GPU-based real-time soft tissue deformation with cutting and haptic feedback.

PubMed

Courtecuisse, Hadrien; Jung, Hoeryong; Allard, Jérémie; Duriez, Christian; Lee, Doo Yong; Cotin, Stéphane

2010-12-01

This article describes a series of contributions in the field of real-time simulation of soft tissue biomechanics. These contributions address various requirements for interactive simulation of complex surgical procedures. In particular, this article presents results in the areas of soft tissue deformation, contact modelling, simulation of cutting, and haptic rendering, which are all relevant to a variety of medical interventions. The contributions described in this article share a common underlying model of deformation and rely on GPU implementations to significantly improve computation times. This consistency in the modelling technique and computational approach ensures coherent results as well as efficient, robust and flexible solutions. Copyright © 2010 Elsevier Ltd. All rights reserved.

An arm wearable haptic interface for impact sensing on unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Choi, Yunshil; Hong, Seung-Chan; Lee, Jung-Ryul

2017-04-01

In this paper, an impact monitoring system using fiber Bragg grating (FBG) sensors and vibro-haptic actuators has been introduced. The system is suggested for structural health monitoring (SHM) for unmanned aerial vehicles (UAVs), by making a decision with human-robot interaction. The system is composed with two major subsystems; an on-board system equipped on UAV and an arm-wearable interface for ground pilot. The on-board system acquires impact-induced wavelength changes and performs localization process, which was developed based on arrival time calculation. The arm-wearable interface helps ground pilots to make decision about impact location themselves by stimulating their tactile-sense with motor vibration.

Haptic augmentation of science instruction: Does touch matter?

NASA Astrophysics Data System (ADS)

Jones, M. Gail; Minogue, James; Tretter, Thomas R.; Negishi, Atsuko; Taylor, Russell

2006-01-01

This study investigated the impact of haptic augmentation of a science inquiry program on students' learning about viruses and nanoscale science. The study assessed how the addition of different types of haptic feedback (active touch and kinesthetic feedback) combined with computer visualizations influenced middle and high school students' experiences. The influences of a PHANToM (a sophisticated haptic desktop device), a Sidewinder (a haptic gaming joystick), and a mouse (no haptic feedback) interface were compared. The levels of engagement in the instruction and students' attitudes about the instructional program were assessed using a combination of constructed response and Likert scale items. Potential cognitive differences were examined through an analysis of spontaneously generated analogies that appeared during student discourse. Results showed that the addition of haptic feedback from the haptic-gaming joystick and the PHANToM provided a more immersive learning environment that not only made the instruction more engaging but may also influence the way in which the students construct their understandings about abstract science concepts.

The Use of the Mayo Clinic System for Differential Diagnosis of Dysarthria.

ERIC Educational Resources Information Center

Simmons, Katharine C.; Mayo, Robert

1997-01-01

A survey of 100 speech-language pathologists involved in the assessment and treatment of patients with dysarthria investigated their attitudes toward the Darley, Aronson, and Brown (DAB) method of classification. Results indicated that most clinicians, believing it helps in the design of a treatment protocol, used the DAB classification system.…

Droplet-born air blowing: novel dissolving microneedle fabrication.

PubMed

Kim, Jung Dong; Kim, Miroo; Yang, Huisuk; Lee, Kwang; Jung, Hyungil

2013-09-28

The microneedle-mediated drug delivery system has been developed to provide painless self-administration of drugs in a patient-friendly manner. Current dissolving microneedle fabrication methods, however, require harsh conditions for biological drugs and also have problems standardizing the drug dose. Here, we suggested the droplet-born air blowing (DAB) method, which provides gentle (4-25 °C) and fast (≤10min) microneedle fabrication conditions without drug loss. The amount of drug in the microneedle can be controlled by the pressure and time of droplet dispenser and the air blowing shapes this droplet to the microneedle, providing a force sufficient to penetrate skin. Also, the introduction of a base structure of two layered DAB-microneedle could provide complete drug delivery without wasting of drug. The DAB-based insulin loaded microneedle shows similar bioavailability (96.6±2.4%) and down regulation of glucose level compared with subcutaneous injection. We anticipate that DAB described herein will be suitable to design dissolving microneedles for use in biological drug delivery to patients. Copyright © 2013 Elsevier B.V. All rights reserved.

Creating and Sharing Understanding: GEOSS and ArcGIS Online

NASA Astrophysics Data System (ADS)

White, C. E.; Hogeweg, M.; Foust, J.

2014-12-01

The GEOSS program brokers various forms of earth observation data and information via its online platform Discovery and Access Broker (DAB). The platform connects relevant information systems and infrastructures through the world. Esri and the National Research Council of Italy Institute of Atmospheric Pollution Research (CNR-IIA) are building two-way technology between DAB framework and ArcGIS Online using the ArcGIS Online API. Developers will engineer Esri and DAB interfaces and build interoperable web services that connect the two systems. This collaboration makes GEOSS earth observation data and services available to the ArcGIS Online community, and ArcGIS Online a significant part of the GEOSS DAB infrastructure. ArcGIS Online subscribers can discover and access the resources published by GEOSS, use GEOSS data services, and build applications. Making GEOSS content available in ArcGIS Online increases opportunities for scientists in other communities to visualize information in greater context. Moreover, because the platform supports authoritative and crowd-sourcing information, GEOSS members can build networks into other disciplines. This talk will discuss the power of interoperable service architectures that make such a collaboration possible, and the results thus far.

Study of melanin bleaching after immunohistochemistry of melanin-containing tissues.

PubMed

Shen, Hongwu; Wu, Wenqiao

2015-04-01

Melanin may interfere with immunohistochemical staining. The goal of this study was to investigate the effects of trichloroisocyanuric acid (TCCA) bleaching, potassium permanganate bleaching, and potassium dichromate bleaching on melanin, tissue antigen, and 3,3'-diaminobenzidine (DAB) using melanin-containing and melanin-free tissue samples. Our results demonstrated that all 3 bleaching methods efficiently bleached melanin and partially destroyed tissue antigen. In addition, potassium permanganate bleaching and potassium dichromate bleaching clearly destroyed DAB, whereas TCCA bleaching had no significant effect on DAB. Therefore, neither potassium permanganate nor potassium dichromate is an ideal solution, whereas TCCA might be an ideal solution for melanin bleaching after the immunohistochemical staining of melanin-containing tissues. After immunostaining followed by TCCA bleaching, the melanin could be completely removed in all 120 malignant melanoma tissue sections. Compared with the control, the DAB intensity was clear, and the tissue structure and cellular nuclei were well maintained. It is worth noting that TCCA should be freshly prepared before each experiment, and used within 2 hours of its preparation. In addition, sections should not be incubated with TCCA for over 30 minutes.

A magnetorheological haptic cue accelerator for manual transmission vehicles

NASA Astrophysics Data System (ADS)

Han, Young-Min; Noh, Kyung-Wook; Lee, Yang-Sub; Choi, Seung-Bok

2010-07-01

This paper proposes a new haptic cue function for manual transmission vehicles to achieve optimal gear shifting. This function is implemented on the accelerator pedal by utilizing a magnetorheological (MR) brake mechanism. By combining the haptic cue function with the accelerator pedal, the proposed haptic cue device can transmit the optimal moment of gear shifting for manual transmission to a driver without requiring the driver's visual attention. As a first step to achieve this goal, a MR fluid-based haptic device is devised to enable rotary motion of the accelerator pedal. Taking into account spatial limitations, the design parameters are optimally determined using finite element analysis to maximize the relative control torque. The proposed haptic cue device is then manufactured and its field-dependent torque and time response are experimentally evaluated. Then the manufactured MR haptic cue device is integrated with the accelerator pedal. A simple virtual vehicle emulating the operation of the engine of a passenger vehicle is constructed and put into communication with the haptic cue device. A feed-forward torque control algorithm for the haptic cue is formulated and control performances are experimentally evaluated and presented in the time domain.

Infiltrating T cells promote renal cell carcinoma (RCC) progression via altering the estrogen receptor β-DAB2IP signals.

PubMed

Yeh, Chiuan-Ren; Ou, Zheng-Yu; Xiao, Guang-Qian; Guancial, Elizabeth; Yeh, Shuyuan

2015-12-29

Previous studies indicated the T cells, one of the most common types of immune cells existing in the microenvironment of renal cell carcinoma (RCC), may influence the progression of RCC. The potential linkage of T cells and the estrogen receptor beta (ERβ), a key player to impact RCC progression, however, remains unclear. Our results demonstrate that RCC cells can recruit more T cells than non-malignant kidney cells. Using an in vitro matrigel invasion system, we found infiltrating T cells could promote RCC cells invasion via increasing ERβ expression and transcriptional activity. Mechanism dissection suggested that co-culturing T cells with RCC cells released more T cell attraction factors, including IFN-γ, CCL3 and CCL5, suggesting a positive regulatory feed-back mechanism. Meanwhile, infiltrating T cells may also promote RCC cell invasion via increased ERβ and decreased DAB2IP expressions, and knocking down DAB2IP can then reverse the T cells-promoted RCC cell invasion. Together, our results suggest that infiltrating T cells may promote RCC cell invasion via increasing the RCC cell ERβ expression to inhibit the tumor suppressor DAB2IP signals. Further mechanism dissection showed that co-culturing T cells with RCC cells could produce more IGF-1 and FGF-7, which may enhance the ERβ transcriptional activity. The newly identified relationship between infiltrating T cells/ERβ/DAB2IP signals may provide a novel therapeutic target in the development of agents against RCC.

A comparative study of quantitative immunohistochemistry and quantum dot immunohistochemistry for mutation carrier identification in Lynch syndrome.

PubMed

Barrow, Emma; Evans, D Gareth; McMahon, Ray; Hill, James; Byers, Richard

2011-03-01

Lynch Syndrome is caused by mutations in DNA mismatch repair (MMR) genes. Mutation carrier identification is facilitated by immunohistochemical detection of the MMR proteins MHL1 and MSH2 in tumour tissue and is desirable as colonoscopic screening reduces mortality. However, protein detection by conventional immunohistochemistry (IHC) is subjective, and quantitative techniques are required. Quantum dots (QDs) are novel fluorescent labels that enable quantitative multiplex staining. This study compared their use with quantitative 3,3'-diaminobenzidine (DAB) IHC for the diagnosis of Lynch Syndrome. Tumour sections from 36 mutation carriers and six controls were obtained. These were stained with DAB on an automated platform using antibodies against MLH1 and MSH2. Multiplex QD immunofluorescent staining of the sections was performed using antibodies against MLH1, MSH2 and smooth muscle actin (SMA). Multispectral analysis of the slides was performed. The staining intensity of DAB and QDs was measured in multiple colonic crypts, and the mean intensity scores calculated. Receiver operating characteristic (ROC) curves of staining performance for the identification of mutation carriers were evaluated. For quantitative DAB IHC, the area under the MLH1 ROC curve was 0.872 (95% CI 0.763 to 0.981), and the area under the MSH2 ROC curve was 0.832 (95% CI 0.704 to 0.960). For quantitative QD IHC, the area under the MLH1 ROC curve was 0.812 (95% CI 0.681 to 0.943), and the area under the MSH2 ROC curve was 0.598 (95% CI 0.418 to 0.777). Despite the advantage of QD staining to enable several markers to be measured simultaneously, it is of lower utility than DAB IHC for the identification of MMR mutation carriers. Automated DAB IHC staining and quantitative slide analysis may enable high-throughput IHC.

Diseases in North Sea fishes

NASA Astrophysics Data System (ADS)

Dethlefsen, V.

1984-03-01

Prior to the studies reviewed here, only lymphocystis and skeletal deformities of a variety of fish species and certain diseases of eel were known to occur in the German Bight (North Sea). From 1977 until now, 9 externally visible lesions on North Sea fishes were observed; in addition to those mentioned before, they comprise: fin rot, ulcerations, epidermal papilloma, hyperplasia, pseudobranchial tumour, eye diseases and gill swellings. With the exception of information on changes in frequencies of vertebral deformities of herring from the 1950's to the 1970's, there are no long-term data characterizing changes in frequencies of the diseases under study. For pseudobranchial tumours of cod and epidermal papilloma of dab, information is provided on occurrence and abundance. The distribution pattern of cod afflicted with pseudobranchial tumours is strongly influenced by the migratory behaviour of the fish. Epidermal papillomas of dab were more frequently found at stations within the inner German Bight than in neighbouring areas. The Bight is used for dumping of wastes from titaniumdioxide production. Further disease hot spots are areas off the Humber estuary and the British coast. Analysis of chromium in dab from the German Bight revealed elevated concentrations in epidermal tissues of specimens from the dumping area compared with that found in dab from neighbouring localities. Particulate iron was demonstrated to occur in mucous cells of dab from the dumping area. From increased levels of heavy metals with cancerogenic potential in sensitive target tissues and from increased prevalences of diseased fish in the dumping area it is concluded that these phenomena are possibly causally linked. In the vicinity of the Humber estuary high disease rates were encountered and areas with high prevalences of dab afflicted with epidermal papilloma extended over regions shown to be transport routes for persistent pollutants such as radioactive materials. It is therefore suggested that the long-range distribution of fish diseases in the southern North Sea might reflect the long-range transport of persistent pollutants.

Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization

NASA Astrophysics Data System (ADS)

Thamrongaphichartkul, Kitti; Vongbunyong, Supachai; Nuntakarn, Lalana

2018-01-01

Micromanipulator is a mechanical device used for manipulating miniature objects in the order of micron. It is widely used in In-Vitro Fertilization (IVF) in which sperms will be held in a micro-needle and penetrate to an oocyte for fertilization. IVF needs to be performed by high skill embryologists to control the movement of the needle accurately due to the lack of tactile perception of the user. Haptic device is a device that can transmit and simulate position, velocity and force in order to enhance interaction between the user and system. However, commercially available haptic devices have unnecessary degrees of freedom and limited workspace which are inappropriate for IVF process. This paper focuses on development of a haptic device for using in IVF process. It will be used as a master arm for the master-slave system for IVF process in order to enhance the ability of users to control the micromanipulator. As a result, the embryologist is able to carry out the IVF process more effectively with having tactile perception.

Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.

PubMed

Hu, Zhenkai; Yoon, Chae-Hyun; Park, Samuel Byeongjun; Jo, Yung-Ho

2016-07-01

We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces. Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator's hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push-pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master-slave system. The results demonstrate that both the grasp force feedback and the push-pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master-slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation. We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push-pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master-slave robot system with our haptic interface in surgical scenarios.

Skills-O-Mat: Computer Supported Interactive Motion- and Game-Based Training in Mixing Alginate in Dental Education

ERIC Educational Resources Information Center

Hannig, Andreas; Lemos, Martin; Spreckelsen, Cord; Ohnesorge-Radtke, Ulla; Rafai, Nicole

2013-01-01

The training of motor skills is a crucial aspect of medical education today. Serious games and haptic virtual simulations have been used in the training of surgical procedures. Otherwise, however, a combination of serious games and motor skills training is rarely used in medical education. This article presents Skills-O-Mat, an interactive serious…

The Efficacy of Surface Haptics and Force Feedback in Education

ERIC Educational Resources Information Center

Gorlewicz, Jenna Lynn

2013-01-01

This dissertation bridges the fields of haptics, engineering, and education to realize some of the potential benefits haptic devices may have in Science, Technology, Engineering, and Math (STEM) education. Specifically, this dissertation demonstrates the development, implementation, and assessment of two haptic devices in engineering and math…

Incorporating Haptic Feedback in Simulation for Learning Physics

ERIC Educational Resources Information Center

Han, Insook; Black, John B.

2011-01-01

The purpose of this study was to investigate the effectiveness of a haptic augmented simulation in learning physics. The results indicate that haptic augmented simulations, both the force and kinesthetic and the purely kinesthetic simulations, were more effective than the equivalent non-haptic simulation in providing perceptual experiences and…

Haptic Distal Spatial Perception Mediated by Strings: Haptic "Looming"

ERIC Educational Resources Information Center

Cabe, Patrick A.

2011-01-01

Five experiments tested a haptic analog of optical looming, demonstrating string-mediated haptic distal spatial perception. Horizontally collinear hooks supported a weighted string held taut by a blindfolded participant's finger midway between the hooks. At the finger, the angle between string segments increased as the finger approached…

Haptic Classification of Common Objects: Knowledge-Driven Exploration.

ERIC Educational Resources Information Center

Lederman, Susan J.; Klatzky, Roberta L.

1990-01-01

Theoretical and empirical issues relating to haptic exploration and the representation of common objects during haptic classification were investigated in 3 experiments involving a total of 112 college students. Results are discussed in terms of a computational model of human haptic object classification with implications for dextrous robot…

42 CFR 1005.21 - Appeal to DAB.

Code of Federal Regulations, 2010 CFR

2010-10-01

... initial 30 day period and shows good cause. (b) If a party files a timely notice of appeal with the DAB... and material and that there were reasonable grounds for the failure to adduce such evidence at such... days from the date of mailing. (k) (1) Any petition for judicial review must be filed within 60 days...

Precise Haptic Device Co-Location for Visuo-Haptic Augmented Reality.

PubMed

Eck, Ulrich; Pankratz, Frieder; Sandor, Christian; Klinker, Gudrun; Laga, Hamid

2015-12-01

Visuo-haptic augmented reality systems enable users to see and touch digital information that is embedded in the real world. PHANToM haptic devices are often employed to provide haptic feedback. Precise co-location of computer-generated graphics and the haptic stylus is necessary to provide a realistic user experience. Previous work has focused on calibration procedures that compensate the non-linear position error caused by inaccuracies in the joint angle sensors. In this article we present a more complete procedure that additionally compensates for errors in the gimbal sensors and improves position calibration. The proposed procedure further includes software-based temporal alignment of sensor data and a method for the estimation of a reference for position calibration, resulting in increased robustness against haptic device initialization and external tracker noise. We designed our procedure to require minimal user input to maximize usability. We conducted an extensive evaluation with two different PHANToMs, two different optical trackers, and a mechanical tracker. Compared to state-of-the-art calibration procedures, our approach significantly improves the co-location of the haptic stylus. This results in higher fidelity visual and haptic augmentations, which are crucial for fine-motor tasks in areas such as medical training simulators, assembly planning tools, or rapid prototyping applications.

Learning of Temporal and Spatial Movement Aspects: A Comparison of Four Types of Haptic Control and Concurrent Visual Feedback.

PubMed

Rauter, Georg; Sigrist, Roland; Riener, Robert; Wolf, Peter

2015-01-01

In literature, the effectiveness of haptics for motor learning is controversially discussed. Haptics is believed to be effective for motor learning in general; however, different types of haptic control enhance different movement aspects. Thus, in dependence on the movement aspects of interest, one type of haptic control may be effective whereas another one is not. Therefore, in the current work, it was investigated if and how different types of haptic controllers affect learning of spatial and temporal movement aspects. In particular, haptic controllers that enforce active participation of the participants were expected to improve spatial aspects. Only haptic controllers that provide feedback about the task's velocity profile were expected to improve temporal aspects. In a study on learning a complex trunk-arm rowing task, the effect of training with four different types of haptic control was investigated: position control, path control, adaptive path control, and reactive path control. A fifth group (control) trained with visual concurrent augmented feedback. As hypothesized, the position controller was most effective for learning of temporal movement aspects, while the path controller was most effective in teaching spatial movement aspects of the rowing task. Visual feedback was also effective for learning temporal and spatial movement aspects.

KinoHaptics: An Automated, Wearable, Haptic Assisted, Physio-therapeutic System for Post-surgery Rehabilitation and Self-care.

PubMed

Rajanna, Vijay; Vo, Patrick; Barth, Jerry; Mjelde, Matthew; Grey, Trevor; Oduola, Cassandra; Hammond, Tracy

2016-03-01

A carefully planned, structured, and supervised physiotherapy program, following a surgery, is crucial for the successful diagnosis of physical injuries. Nearly 50 % of the surgeries fail due to unsupervised, and erroneous physiotherapy. The demand for a physiotherapist for an extended period is expensive to afford, and sometimes inaccessible. Researchers have tried to leverage the advancements in wearable sensors and motion tracking by building affordable, automated, physio-therapeutic systems that direct a physiotherapy session by providing audio-visual feedback on patient's performance. There are many aspects of automated physiotherapy program which are yet to be addressed by the existing systems: a wide classification of patients' physiological conditions to be diagnosed, multiple demographics of the patients (blind, deaf, etc.), and the need to pursue patients to adopt the system for an extended period for self-care. In our research, we have tried to address these aspects by building a health behavior change support system called KinoHaptics, for post-surgery rehabilitation. KinoHaptics is an automated, wearable, haptic assisted, physio-therapeutic system that can be used by a wide variety of demographics and for various physiological conditions of the patients. The system provides rich and accurate vibro-haptic feedback that can be felt by the user, irrespective of the physiological limitations. KinoHaptics is built to ensure that no injuries are induced during the rehabilitation period. The persuasive nature of the system allows for personal goal-setting, progress tracking, and most importantly life-style compatibility. The system was evaluated under laboratory conditions, involving 14 users. Results show that KinoHaptics is highly convenient to use, and the vibro-haptic feedback is intuitive, accurate, and has shown to prevent accidental injuries. Also, results show that KinoHaptics is persuasive in nature as it supports behavior change and habit building. The successful acceptance of KinoHaptics, an automated, wearable, haptic assisted, physio-therapeutic system proves the need and future-scope of automated physio-therapeutic systems for self-care and behavior change. It also proves that such systems incorporated with vibro-haptic feedback encourage strong adherence to the physiotherapy program; can have profound impact on the physiotherapy experience resulting in higher acceptance rate.

A one degree of freedom haptic system to investigate issues in human perception with particular application to probing tissue.

PubMed

Dibble, Edward; Zivanovic, Aleksandar; Davies, Brian

2004-01-01

This paper presents the results of several early studies relating to human haptic perception sensitivity when probing a virtual object. A 1 degree of freedom (DoF) rotary haptic system, that was designed and built for this purpose, is also presented. The experiments were to assess the maximum forces applied in a minimally invasive surgery (MIS) procedure, quantify the compliance sensitivity threshold when probing virtual tissue and identify the haptic system loop rate necessary for haptic feedback to feel realistic.

G2H--graphics-to-haptic virtual environment development tool for PC's.

PubMed

Acosta, E; Temkin, B; Krummel, T M; Heinrichs, W L

2000-01-01

For surgical training and preparations, the existing surgical virtual environments have shown great improvement. However, these improvements are more in the visual aspect. The incorporation of haptics into virtual reality base surgical simulations would enhance the sense of realism greatly. To aid in the development of the haptic surgical virtual environment we have created a graphics to haptic, G2H, virtual environment developer tool. G2H transforms graphical virtual environments (created or imported) to haptic virtual environments without programming. The G2H capability has been demonstrated using the complex 3D pelvic model of Lucy 2.0, the Stanford Visible Female. The pelvis was made haptic using G2H without any further programming effort.

Assessment of some innate immune responses in dab (Limanda limanda L.) from the North Sea as part of an integrated biological effects monitoring

NASA Astrophysics Data System (ADS)

Skouras, Andreas; Lang, Thomas; Vobach, Michael; Danischewski, Dirk; Wosniok, Werner; Scharsack, Jörn Peter; Steinhagen, Dieter

2003-10-01

The marine flatfish dab (Limanda limanda), which lives in direct contact with contaminated sediments, is frequently used as a sentinel species in international monitoring programmes on the biological effects of contaminants. In this study, immune responses were recorded as indicators of sublethal chronic effects of contaminants, in addition to measurement of the induction of mono-oxygenase ethoxyresorufin O-deethylase (EROD) in liver cells, the inhibition of acetylcholin esterase (AChE) in muscle and a quantification of grossly visible diseases and parasites. In total, 336 dab were analysed from five sampling areas in the North Sea, including the German Bight, the Dogger Bank, the Firth of Forth, and two locations close to oil and gas platforms (Ekofisk and Danfield). When considering plasma lysozyme levels, pinocytosis and respiratory burst activity of head kidney leucocytes, a clear gradient could be observed with decreased levels in individuals collected from the Firth of Forth and locations near the oil or gas platforms compared with dab from the Dogger Bank or the German Bight. Individuals with induced EROD activity displayed reduced lysozyme and respiratory burst activities. Lysozyme levels were also reduced in dab with lymphocystis or with nematodes. The data obtained indicate that the assessment of innate immune parameters in a monitoring programme provides supplementary information about immunomodulatory effects associated with the exposure of fish to contaminants. In particular, concentrations of plasma lysozyme, which can be analysed in an easy and inexpensive assay, are considered to be an appropriate parameter for use in a battery of other bioindicators.

Towards quantifying dynamic human-human physical interactions for robot assisted stroke therapy.

PubMed

Mohan, Mayumi; Mendonca, Rochelle; Johnson, Michelle J

2017-07-01

Human-Robot Interaction is a prominent field of robotics today. Knowledge of human-human physical interaction can prove vital in creating dynamic physical interactions between human and robots. Most of the current work in studying this interaction has been from a haptic perspective. Through this paper, we present metrics that can be used to identify if a physical interaction occurred between two people using kinematics. We present a simple Activity of Daily Living (ADL) task which involves a simple interaction. We show that we can use these metrics to successfully identify interactions.

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

PubMed Central

Oscari, Fabio; Oboe, Roberto; Daud Albasini, Omar Andres; Masiero, Stefano; Rosati, Giulio

2016-01-01

The use of haptic devices in the rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand. PMID:27706085

Real-time surgery simulation of intracranial aneurysm clipping with patient-specific geometries and haptic feedback

NASA Astrophysics Data System (ADS)

Fenz, Wolfgang; Dirnberger, Johannes

2015-03-01

Providing suitable training for aspiring neurosurgeons is becoming more and more problematic. The increasing popularity of the endovascular treatment of intracranial aneurysms leads to a lack of simple surgical situations for clipping operations, leaving mainly the complex cases, which present even experienced surgeons with a challenge. To alleviate this situation, we have developed a training simulator with haptic interaction allowing trainees to practice virtual clipping surgeries on real patient-specific vessel geometries. By using specialized finite element (FEM) algorithms (fast finite element method, matrix condensation) combined with GPU acceleration, we can achieve the necessary frame rate for smooth real-time interaction with the detailed models needed for a realistic simulation of the vessel wall deformation caused by the clamping with surgical clips. Vessel wall geometries for typical training scenarios were obtained from 3D-reconstructed medical image data, while for the instruments (clipping forceps, various types of clips, suction tubes) we use models provided by manufacturer Aesculap AG. Collisions between vessel and instruments have to be continuously detected and transformed into corresponding boundary conditions and feedback forces, calculated using a contact plane method. After a training, the achieved result can be assessed based on various criteria, including a simulation of the residual blood flow into the aneurysm. Rigid models of the surgical access and surrounding brain tissue, plus coupling a real forceps to the haptic input device further increase the realism of the simulation.

The Experience of Force: The Role of Haptic Experience of Forces in Visual Perception of Object Motion and Interactions, Mental Simulation, and Motion-Related Judgments

ERIC Educational Resources Information Center

White, Peter A.

2012-01-01

Forces are experienced in actions on objects. The mechanoreceptor system is stimulated by proximal forces in interactions with objects, and experiences of force occur in a context of information yielded by other sensory modalities, principally vision. These experiences are registered and stored as episodic traces in the brain. These stored…

EROD activity measured in flatfish from the area of the Sea Empress oil spill.

PubMed

Kirby, M F; Neall, P; Tylor, T

1999-05-01

Dab (Limanda limanda) and plaice (Pleuronectes platessa) were collected at five stations near to the site of the Sea Empress oil spill within two weeks of the incident and a further fourteen stations three months after the spillage. Ethoxyresorufin-O-deethylase (EROD) activity was determined in the livers of the specimens to determine whether induction could be detected. Statistically significant inter-site differences in EROD levels in both species were demonstrated. Elevated levels of EROD activity in dab were found at the two stations nearest to the incident up to three months after the spill but no clear relationship to putative contaminant levels was determined. EROD levels in plaice showed a generally similar pattern of induction as in dab. Correlation of EROD levels with other variables showed that sexual maturity had the greatest influence on dab during the study period. The plaice specimens were sexually immature and, therefore, did not demonstrate a corresponding relationship. It was concluded that, for EROD monitoring purposes, fish should be sampled during their sexually inactive phase and that close attention needs to be paid to other variables (depth, temperature, GSI, length, influential contaminants etc.) when interpreting the results.

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

NASA Astrophysics Data System (ADS)

Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok

2015-06-01

In this study, we developed a novel four-degrees-of-freedom haptic master using controllable magnetorheological (MR) fluid. We also integrated the haptic master with a vision device with image processing for robot-assisted minimally invasive surgery (RMIS). The proposed master can be used in RMIS as a haptic interface to provide the surgeon with a sense of touch by using both kinetic and kinesthetic information. The slave robot, which is manipulated with a proportional-integrative-derivative controller, uses a force sensor to obtain the desired forces from tissue contact, and these desired repulsive forces are then embodied through the MR haptic master. To verify the effectiveness of the haptic master, the desired force and actual force are compared in the time domain. In addition, a visual feedback system is implemented in the RMIS experiment to distinguish between the tumor and organ more clearly and provide better visibility to the operator. The hue-saturation-value color space is adopted for the image processing since it is often more intuitive than other color spaces. The image processing and haptic feedback are realized on surgery performance. In this work, tumor-cutting experiments are conducted under four different operating conditions: haptic feedback on, haptic feedback off, image processing on, and image processing off. The experimental realization shows that the performance index, which is a function of pixels, is different in the four operating conditions.

Aging and solid shape recognition: Vision and haptics.

PubMed

Norman, J Farley; Cheeseman, Jacob R; Adkins, Olivia C; Cox, Andrea G; Rogers, Connor E; Dowell, Catherine J; Baxter, Michael W; Norman, Hideko F; Reyes, Cecia M

2015-10-01

The ability of 114 younger and older adults to recognize naturally-shaped objects was evaluated in three experiments. The participants viewed or haptically explored six randomly-chosen bell peppers (Capsicum annuum) in a study session and were later required to judge whether each of twelve bell peppers was "old" (previously presented during the study session) or "new" (not presented during the study session). When recognition memory was tested immediately after study, the younger adults' (Experiment 1) performance for vision and haptics was identical when the individual study objects were presented once. Vision became superior to haptics, however, when the individual study objects were presented multiple times. When 10- and 20-min delays (Experiment 2) were inserted in between study and test sessions, no significant differences occurred between vision and haptics: recognition performance in both modalities was comparable. When the recognition performance of older adults was evaluated (Experiment 3), a negative effect of age was found for visual shape recognition (younger adults' overall recognition performance was 60% higher). There was no age effect, however, for haptic shape recognition. The results of the present experiments indicate that the visual recognition of natural object shape is different from haptic recognition in multiple ways: visual shape recognition can be superior to that of haptics and is affected by aging, while haptic shape recognition is less accurate and unaffected by aging. Copyright © 2015 Elsevier Ltd. All rights reserved.

Haptic Paddle Enhancements and a Formal Assessment of Student Learning in System Dynamics

ERIC Educational Resources Information Center

Gorlewicz, Jenna L.; Kratchman, Louis B.; Webster, Robert J., III

2014-01-01

The haptic paddle is a force-feedback joystick used at several universities in teaching System Dynamics, a core mechanical engineering undergraduate course where students learn to model dynamic systems in several domains. A second goal of the haptic paddle is to increase the accessibility of robotics and haptics by providing a low-cost device for…

Identification of walked-upon materials in auditory, kinesthetic, haptic, and audio-haptic conditions.

PubMed

Giordano, Bruno L; Visell, Yon; Yao, Hsin-Yun; Hayward, Vincent; Cooperstock, Jeremy R; McAdams, Stephen

2012-05-01

Locomotion generates multisensory information about walked-upon objects. How perceptual systems use such information to get to know the environment remains unexplored. The ability to identify solid (e.g., marble) and aggregate (e.g., gravel) walked-upon materials was investigated in auditory, haptic or audio-haptic conditions, and in a kinesthetic condition where tactile information was perturbed with a vibromechanical noise. Overall, identification performance was better than chance in all experimental conditions and for both solids and the better identified aggregates. Despite large mechanical differences between the response of solids and aggregates to locomotion, for both material categories discrimination was at its worst in the auditory and kinesthetic conditions and at its best in the haptic and audio-haptic conditions. An analysis of the dominance of sensory information in the audio-haptic context supported a focus on the most accurate modality, haptics, but only for the identification of solid materials. When identifying aggregates, response biases appeared to produce a focus on the least accurate modality--kinesthesia. When walking on loose materials such as gravel, individuals do not perceive surfaces by focusing on the most accurate modality, but by focusing on the modality that would most promptly signal postural instabilities.

Review of Designs for Haptic Data Visualization.

PubMed

Paneels, Sabrina; Roberts, Jonathan C

2010-01-01

There are many different uses for haptics, such as training medical practitioners, teleoperation, or navigation of virtual environments. This review focuses on haptic methods that display data. The hypothesis is that haptic devices can be used to present information, and consequently, the user gains quantitative, qualitative, or holistic knowledge about the presented data. Not only is this useful for users who are blind or partially sighted (who can feel line graphs, for instance), but also the haptic modality can be used alongside other modalities, to increase the amount of variables being presented, or to duplicate some variables to reinforce the presentation. Over the last 20 years, a significant amount of research has been done in haptic data presentation; e.g., researchers have developed force feedback line graphs, bar charts, and other forms of haptic representations. However, previous research is published in different conferences and journals, with different application emphases. This paper gathers and collates these various designs to provide a comprehensive review of designs for haptic data visualization. The designs are classified by their representation: Charts, Maps, Signs, Networks, Diagrams, Images, and Tables. This review provides a comprehensive reference for researchers and learners, and highlights areas for further research.

First feeding regimes for long-snout seahorse Hippocampus reidi larvae.

PubMed

Garcia-Manchón, J; Socorro-Cruz, J; Segade Botella, A; Otero-Ferrer, F; Mesa, A; Molina Domínguez, L

2013-01-01

Seahorses are endangered species included in Appendix II of CITES from 2002 due to the progressive regression of wild populations. This study focused in Hippocampus reidi, one of the species with highest interest in trade, showing an increasing demand in the last decades. This study was conducted during 28 days to compare the effects of different time enrichment (0, 24, and 48h) for Artemia using a commercial product (Easy-Selco DHA INVE Aquaculture, Dendermonde, Belgium). Results showed no significant differences in growth between treatments until 21DAB, after which animals fed for 48h one enriched Artemia showed significantly better growth. Cumulative average survival during the first 14DAB was significantly higher in Oh treatment, while from 15DAB to the end of the experiment, no significantly differences were observed.

Study on development of active-passive rehabilitation system for upper limbs: Hybrid-PLEMO

NASA Astrophysics Data System (ADS)

Kikuchi, T.; Jin, Y.; Fukushima, K.; Akai, H.; Furusho, J.

2009-02-01

In recent years, many researchers have studied the potential of using robotics technology to assist and quantify the motor functions for neuron-rehabilitation. Some kinds of haptic devices have been developed and evaluated its efficiency with clinical tests, for example, upper limb training for patients with spasticity after stroke. Active-type (motor-driven) haptic devices can realize a lot of varieties of haptics. But they basically require high-cost safety system. On the other hand, passive-type (brake-based) haptic devices have inherent safety. However, the passive robot system has strong limitation on varieties of haptics. There are not sufficient evidences to clarify how the passive/active haptics effect to the rehabilitation of motor skills. In this paper, we developed an active-passive-switchable rehabilitation system with ER clutch/brake device named "Hybrid-PLEMO" in order to address these problems. In this paper, basic structures and haptic control methods of the Hybrid-PLEMO are described.

Enhancing Academic Performance: Seven Perceptual Styles of Learning.

ERIC Educational Resources Information Center

Higbee, Jeanne L.; And Others

1991-01-01

Presents Galbraith and James's taxonomy of seven perceptual modalities (i.e., print, aural, interactive, visual, haptic, kinesthetic, and olfactory). Discusses ways educators can demonstrate perceptual modalities in the classroom and help students identify their personal style of learning. Explains how this knowledge can facilitate learning in a…

Grounded Learning Experience: Helping Students Learn Physics through Visuo-Haptic Priming and Instruction

NASA Astrophysics Data System (ADS)

Huang, Shih-Chieh Douglas

In this dissertation, I investigate the effects of a grounded learning experience on college students' mental models of physics systems. The grounded learning experience consisted of a priming stage and an instruction stage, and within each stage, one of two different types of visuo-haptic representation was applied: visuo-gestural simulation (visual modality and gestures) and visuo-haptic simulation (visual modality, gestures, and somatosensory information). A pilot study involving N = 23 college students examined how using different types of visuo-haptic representation in instruction affected people's mental model construction for physics systems. Participants' abilities to construct mental models were operationalized through their pretest-to-posttest gain scores for a basic physics system and their performance on a transfer task involving an advanced physics system. Findings from this pilot study revealed that, while both simulations significantly improved participants' mental modal construction for physics systems, visuo-haptic simulation was significantly better than visuo-gestural simulation. In addition, clinical interviews suggested that participants' mental model construction for physics systems benefited from receiving visuo-haptic simulation in a tutorial prior to the instruction stage. A dissertation study involving N = 96 college students examined how types of visuo-haptic representation in different applications support participants' mental model construction for physics systems. Participant's abilities to construct mental models were again operationalized through their pretest-to-posttest gain scores for a basic physics system and their performance on a transfer task involving an advanced physics system. Participants' physics misconceptions were also measured before and after the grounded learning experience. Findings from this dissertation study not only revealed that visuo-haptic simulation was significantly more effective in promoting mental model construction and remedying participants' physics misconceptions than visuo-gestural simulation, they also revealed that visuo-haptic simulation was more effective during the priming stage than during the instruction stage. Interestingly, the effects of visuo-haptic simulation in priming and visuo-haptic simulation in instruction on participants' pretest-to-posttest gain scores for a basic physics system appeared additive. These results suggested that visuo-haptic simulation is effective in physics learning, especially when it is used during the priming stage.

Visual-haptic integration with pliers and tongs: signal “weights” take account of changes in haptic sensitivity caused by different tools

PubMed Central

Takahashi, Chie; Watt, Simon J.

2014-01-01

When we hold an object while looking at it, estimates from visual and haptic cues to size are combined in a statistically optimal fashion, whereby the “weight” given to each signal reflects their relative reliabilities. This allows object properties to be estimated more precisely than would otherwise be possible. Tools such as pliers and tongs systematically perturb the mapping between object size and the hand opening. This could complicate visual-haptic integration because it may alter the reliability of the haptic signal, thereby disrupting the determination of appropriate signal weights. To investigate this we first measured the reliability of haptic size estimates made with virtual pliers-like tools (created using a stereoscopic display and force-feedback robots) with different “gains” between hand opening and object size. Haptic reliability in tool use was straightforwardly determined by a combination of sensitivity to changes in hand opening and the effects of tool geometry. The precise pattern of sensitivity to hand opening, which violated Weber's law, meant that haptic reliability changed with tool gain. We then examined whether the visuo-motor system accounts for these reliability changes. We measured the weight given to visual and haptic stimuli when both were available, again with different tool gains, by measuring the perceived size of stimuli in which visual and haptic sizes were varied independently. The weight given to each sensory cue changed with tool gain in a manner that closely resembled the predictions of optimal sensory integration. The results are consistent with the idea that different tool geometries are modeled by the brain, allowing it to calculate not only the distal properties of objects felt with tools, but also the certainty with which those properties are known. These findings highlight the flexibility of human sensory integration and tool-use, and potentially provide an approach for optimizing the design of visual-haptic devices. PMID:24592245

The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review.

PubMed

van der Meijden, O A J; Schijven, M P

2009-06-01

Virtual reality (VR) as surgical training tool has become a state-of-the-art technique in training and teaching skills for minimally invasive surgery (MIS). Although intuitively appealing, the true benefits of haptic (VR training) platforms are unknown. Many questions about haptic feedback in the different areas of surgical skills (training) need to be answered before adding costly haptic feedback in VR simulation for MIS training. This study was designed to review the current status and value of haptic feedback in conventional and robot-assisted MIS and training by using virtual reality simulation. A systematic review of the literature was undertaken using PubMed and MEDLINE. The following search terms were used: Haptic feedback OR Haptics OR Force feedback AND/OR Minimal Invasive Surgery AND/OR Minimal Access Surgery AND/OR Robotics AND/OR Robotic Surgery AND/OR Endoscopic Surgery AND/OR Virtual Reality AND/OR Simulation OR Surgical Training/Education. The results were assessed according to level of evidence as reflected by the Oxford Centre of Evidence-based Medicine Levels of Evidence. In the current literature, no firm consensus exists on the importance of haptic feedback in performing minimally invasive surgery. Although the majority of the results show positive assessment of the benefits of force feedback, results are ambivalent and not unanimous on the subject. Benefits are least disputed when related to surgery using robotics, because there is no haptic feedback in currently used robotics. The addition of haptics is believed to reduce surgical errors resulting from a lack of it, especially in knot tying. Little research has been performed in the area of robot-assisted endoscopic surgical training, but results seem promising. Concerning VR training, results indicate that haptic feedback is important during the early phase of psychomotor skill acquisition.

Analysis of Morphogenic Effect of hDAB2IP on Prostate Cancer and its Disease Correlation

DTIC Science & Technology

2007-02-01

variety of or- gans and cell lines. By determining the promoter sequence from the 5’- flanking region of the mDab2ip gene in mouse prosta - tic epithelial...patient with de novo acute myeloid leukemia. Genes Chromo- somes Cancer 39, 324 –334. WANG, Z., TSENG, C.P., PONG, R.C., CHEN, H., MCCONNELL, J.D

Development and Standardization of the Diagnostic Adaptive Behavior Scale: Application of Item Response Theory to the Assessment of Adaptive Behavior

ERIC Educational Resources Information Center

Tassé, Marc J.; Schalock, Robert L.; Thissen, David; Balboni, Giulia; Bersani, Henry, Jr.; Borthwick-Duffy, Sharon A.; Spreat, Scott; Widaman, Keith F.; Zhang, Dalun; Navas, Patricia

2016-01-01

The Diagnostic Adaptive Behavior Scale (DABS) was developed using item response theory (IRT) methods and was constructed to provide the most precise and valid adaptive behavior information at or near the cutoff point of making a decision regarding a diagnosis of intellectual disability. The DABS initial item pool consisted of 260 items. Using IRT…

A review on Black-Scholes model in pricing warrants in Bursa Malaysia

NASA Astrophysics Data System (ADS)

Gunawan, Nur Izzaty Ilmiah Indra; Ibrahim, Siti Nur Iqmal; Rahim, Norhuda Abdul

2017-01-01

This paper studies the accuracy of the Black-Scholes (BS) model and the dilution-adjusted Black-Scholes (DABS) model to pricing some warrants traded in the Malaysian market. Mean Absolute Error (MAE) and Mean Absolute Percentage Error (MAPE) are used to compare the two models. Results show that the DABS model is more accurate than the BS model for the selected data.

Discrete Address Beacon System (DABS) Baseline Test and Evaluation.

DTIC Science & Technology

1980-04-01

Organization ReportNo 7. ~/ - 9. PorTorming Organisation Name and Address 10. Work Unit No. (TRALS) Federal Aviation Administration National Aviation...version of the Common International Civil Aviation Organization (ICAO) Data Interchange Network (CIDIN) protocol used in the DABS engineering model. 8. All...grouped into two subsets, one for surveillance data communications and one for Common International Civil Aviation Organization (ICAO) Data Interchange

Mercury species in dab (Limanda limanda) from the North Sea, Baltic Sea and Icelandic waters in relation to host-specific variables.

PubMed

Lang, Thomas; Kruse, Reinhard; Haarich, Michael; Wosniok, Werner

2017-03-01

In the framework of the ICON project (Integrated Assessment of Contaminant Impacts on the North Sea), muscle tissue from a total of 135 common dab (Limanda limanda) (20-28 cm total length) was collected in seven offshore sampling areas in the North Sea, at Iceland and in the Baltic Sea during Aug/Sept and December 2008 for a chemical mercury speciation analysis by means of gas chromatography and detection by cold vapour atomic fluorescence spectroscopy (GC-CVAFS). There was a highly significant correlation between concentrations of methylmercury (MeHg + ) and inorganic mercury (Hg 2+ ) in individual fish, and the mean ratio of MeHg + compared to Σ Hg (MeHg +  + Hg 2+ ) was 94.0%. The results revealed statistically significant differences in concentrations of MeHg + and Hg 2+ , respectively, between sampling areas. Mean concentrations in the German Bight (North Sea), in Icelandic waters and in Mecklenburg Bight (Baltic Sea) were low (MeHg + : 0.023-0.036; Hg 2+ : 0.001-0.002 mg/kg wet weight), while concentrations in dab from the Dogger Bank, Firth of Forth and the vicinity of the Ekofisk oil field (all North Sea) were significantly higher (MeHg + : 0.059-0.101; Hg 2+ : 0.003-0.004 mg/kg wet weight). Statistical correlation analysis on effects of host-specific factors revealed that neither length, weight, age, sex nor condition factor showed a significant relationship with Hg concentrations. However, Hg concentrations were significantly correlated with the Fish Disease Index (FDI), indicating a relationship between Hg concentrations and the health status of dab. Multiple linear regression analysis aiming to find factors affecting Hg concentrations revealed that only the sampling area had a highly significant main effect on Hg concentrations, and in some cases, additionally the condition factor contributed significantly to the final model. From the results, it cannot be excluded that elevated Hg concentration recorded in dab were linked to discharges from offshore oil and gas installations and that Hg affected the health status of dab. Copyright © 2016 Elsevier Ltd. All rights reserved.

Different haptic tools reduce trunk velocity in the frontal plane during walking, but haptic anchors have advantages over lightly touching a railing.

PubMed

Hedayat, Isabel; Moraes, Renato; Lanovaz, Joel L; Oates, Alison R

2017-06-01

There are different ways to add haptic input during walking which may affect walking balance. This study compared the use of two different haptic tools (rigid railing and haptic anchors) and investigated whether any effects on walking were the result of the added sensory input and/or the posture generated when using those tools. Data from 28 young healthy adults were collected using the Mobility Lab inertial sensor system (APDM, Oregon, USA). Participants walked with and without both haptic tools and while pretending to use both haptic tools (placebo trials), with eyes opened and eyes closed. Using the tools or pretending to use both tools decreased normalized stride velocity (p < .001-0.008) and peak medial-lateral (ML) trunk velocity (p < .001-0.001). Normalized stride velocity was slower when actually using the railing compared to placebo railing trials (p = .006). Using the anchors resulted in lower peak ML trunk velocity than the railing (p = .002). The anchors had lower peak ML trunk velocity than placebo anchors (p < .001), but there was no difference between railing and placebo railing (p > .999). These findings highlight a difference in the type of tool used to add haptic input and suggest that changes in balance control strategy resulting from using the railing are based on arm placement, where it is the posture combined with added sensory input that affects balance control strategies with the haptic anchors. These findings provide a strong framework for additional research to be conducted on the effects of haptic input on walking in populations known to have decreased walking balance.

Haptic device development based on electro static force of cellulose electro active paper

NASA Astrophysics Data System (ADS)

Yun, Gyu-young; Kim, Sang-Youn; Jang, Sang-Dong; Kim, Dong-Gu; Kim, Jaehwan

2011-04-01

Haptic is one of well-considered device which is suitable for demanding virtual reality applications such as medical equipment, mobile devices, the online marketing and so on. Nowadays, many of concepts for haptic devices have been suggested to meet the demand of industries. Cellulose has received much attention as an emerging smart material, named as electro-active paper (EAPap). The EAPap is attractive for mobile haptic devices due to its unique characteristics in terms of low actuation power, suitability for thin devices and transparency. In this paper, we suggest a new concept of haptic actuator with the use of cellulose EAPap. Its performance is evaluated depending on various actuation conditions. As a result, cellulose electrostatic force actuator shows a large output displacement and fast response, which is suitable for mobile haptic devices.

Detection thresholds for small haptic effects

NASA Astrophysics Data System (ADS)

Dosher, Jesse A.; Hannaford, Blake

2002-02-01

We are interested in finding out whether or not haptic interfaces will be useful in portable and hand held devices. Such systems will have severe constraints on force output. Our first step is to investigate the lower limits at which haptic effects can be perceived. In this paper we report on experiments studying the effects of varying the amplitude, size, shape, and pulse-duration of a haptic feature. Using a specific haptic device we measure the smallest detectable haptics effects, with active exploration of saw-tooth shaped icons sized 3, 4 and 5 mm, a sine-shaped icon 5 mm wide, and static pulses 50, 100, and 150 ms in width. Smooth shaped icons resulted in a detection threshold of approximately 55 mN, almost twice that of saw-tooth shaped icons which had a threshold of 31 mN.

Enhancing audiovisual experience with haptic feedback: a survey on HAV.

PubMed

Danieau, F; Lecuyer, A; Guillotel, P; Fleureau, J; Mollet, N; Christie, M

2013-01-01

Haptic technology has been widely employed in applications ranging from teleoperation and medical simulation to art and design, including entertainment, flight simulation, and virtual reality. Today there is a growing interest among researchers in integrating haptic feedback into audiovisual systems. A new medium emerges from this effort: haptic-audiovisual (HAV) content. This paper presents the techniques, formalisms, and key results pertinent to this medium. We first review the three main stages of the HAV workflow: the production, distribution, and rendering of haptic effects. We then highlight the pressing necessity for evaluation techniques in this context and discuss the key challenges in the field. By building on existing technologies and tackling the specific challenges of the enhancement of audiovisual experience with haptics, we believe the field presents exciting research perspectives whose financial and societal stakes are significant.

Haptic interface of web-based training system for interventional radiology procedures

NASA Astrophysics Data System (ADS)

Ma, Xin; Lu, Yiping; Loe, KiaFock; Nowinski, Wieslaw L.

2004-05-01

The existing web-based medical training systems and surgical simulators can provide affordable and accessible medical training curriculum, but they seldom offer the trainee realistic and affordable haptic feedback. Therefore, they cannot offer the trainee a suitable practicing environment. In this paper, a haptic solution for interventional radiology (IR) procedures is proposed. System architecture of a web-based training system for IR procedures is briefly presented first. Then, the mechanical structure, the working principle and the application of a haptic device are discussed in detail. The haptic device works as an interface between the training environment and the trainees and is placed at the end user side. With the system, the user can be trained on the interventional radiology procedures - navigating catheters, inflating balloons, deploying coils and placing stents on the web and get surgical haptic feedback in real time.

Investigating Students' Ideas About Buoyancy and the Influence of Haptic Feedback

NASA Astrophysics Data System (ADS)

Minogue, James; Borland, David

2016-04-01

While haptics (simulated touch) represents a potential breakthrough technology for science teaching and learning, there is relatively little research into its differential impact in the context of teaching and learning. This paper describes the testing of a haptically enhanced simulation (HES) for learning about buoyancy. Despite a lifetime of everyday experiences, a scientifically sound explanation of buoyancy remains difficult to construct for many. It requires the integration of domain-specific knowledge regarding density, fluid, force, gravity, mass, weight, and buoyancy. Prior studies suggest that novices often focus on only one dimension of the sinking and floating phenomenon. Our HES was designed to promote the integration of the subconcepts of density and buoyant forces and stresses the relationship between the object itself and the surrounding fluid. The study employed a randomized pretest-posttest control group research design and a suite of measures including an open-ended prompt and objective content questions to provide insights into the influence of haptic feedback on undergraduate students' thinking about buoyancy. A convenience sample (n = 40) was drawn from a university's population of undergraduate elementary education majors. Two groups were formed from haptic feedback (n = 22) and no haptic feedback (n = 18). Through content analysis, discernible differences were seen in the posttest explanations sinking and floating across treatment groups. Learners that experienced the haptic feedback made more frequent use of "haptically grounded" terms (e.g., mass, gravity, buoyant force, pushing), leading us to begin to build a local theory of language-mediated haptic cognition.

Development of visuo-haptic transfer for object recognition in typical preschool and school-aged children.

PubMed

Purpura, Giulia; Cioni, Giovanni; Tinelli, Francesca

2018-07-01

Object recognition is a long and complex adaptive process and its full maturation requires combination of many different sensory experiences as well as cognitive abilities to manipulate previous experiences in order to develop new percepts and subsequently to learn from the environment. It is well recognized that the transfer of visual and haptic information facilitates object recognition in adults, but less is known about development of this ability. In this study, we explored the developmental course of object recognition capacity in children using unimodal visual information, unimodal haptic information, and visuo-haptic information transfer in children from 4 years to 10 years and 11 months of age. Participants were tested through a clinical protocol, involving visual exploration of black-and-white photographs of common objects, haptic exploration of real objects, and visuo-haptic transfer of these two types of information. Results show an age-dependent development of object recognition abilities for visual, haptic, and visuo-haptic modalities. A significant effect of time on development of unimodal and crossmodal recognition skills was found. Moreover, our data suggest that multisensory processes for common object recognition are active at 4 years of age. They facilitate recognition of common objects, and, although not fully mature, are significant in adaptive behavior from the first years of age. The study of typical development of visuo-haptic processes in childhood is a starting point for future studies regarding object recognition in impaired populations.

Visual and Haptic Shape Processing in the Human Brain: Unisensory Processing, Multisensory Convergence, and Top-Down Influences.

PubMed

Lee Masson, Haemy; Bulthé, Jessica; Op de Beeck, Hans P; Wallraven, Christian

2016-08-01

Humans are highly adept at multisensory processing of object shape in both vision and touch. Previous studies have mostly focused on where visually perceived object-shape information can be decoded, with haptic shape processing receiving less attention. Here, we investigate visuo-haptic shape processing in the human brain using multivoxel correlation analyses. Importantly, we use tangible, parametrically defined novel objects as stimuli. Two groups of participants first performed either a visual or haptic similarity-judgment task. The resulting perceptual object-shape spaces were highly similar and matched the physical parameter space. In a subsequent fMRI experiment, objects were first compared within the learned modality and then in the other modality in a one-back task. When correlating neural similarity spaces with perceptual spaces, visually perceived shape was decoded well in the occipital lobe along with the ventral pathway, whereas haptically perceived shape information was mainly found in the parietal lobe, including frontal cortex. Interestingly, ventrolateral occipito-temporal cortex decoded shape in both modalities, highlighting this as an area capable of detailed visuo-haptic shape processing. Finally, we found haptic shape representations in early visual cortex (in the absence of visual input), when participants switched from visual to haptic exploration, suggesting top-down involvement of visual imagery on haptic shape processing. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Effect of physical workload and modality of information presentation on pattern recognition and navigation task performance by high-fit young males.

PubMed

Zahabi, Maryam; Zhang, Wenjuan; Pankok, Carl; Lau, Mei Ying; Shirley, James; Kaber, David

2017-11-01

Many occupations require both physical exertion and cognitive task performance. Knowledge of any interaction between physical demands and modalities of cognitive task information presentation can provide a basis for optimising performance. This study examined the effect of physical exertion and modality of information presentation on pattern recognition and navigation-related information processing. Results indicated males of equivalent high fitness, between the ages of 18 and 34, rely more on visual cues vs auditory or haptic for pattern recognition when exertion level is high. We found that navigation response time was shorter under low and medium exertion levels as compared to high intensity. Navigation accuracy was lower under high level exertion compared to medium and low levels. In general, findings indicated that use of the haptic modality for cognitive task cueing decreased accuracy in pattern recognition responses. Practitioner Summary: An examination was conducted on the effect of physical exertion and information presentation modality in pattern recognition and navigation. In occupations requiring information presentation to workers, who are simultaneously performing a physical task, the visual modality appears most effective under high level exertion while haptic cueing degrades performance.

Heterogeneous Deformable Modeling of Bio-Tissues and Haptic Force Rendering for Bio-Object Modeling

NASA Astrophysics Data System (ADS)

Lin, Shiyong; Lee, Yuan-Shin; Narayan, Roger J.

This paper presents a novel technique for modeling soft biological tissues as well as the development of an innovative interface for bio-manufacturing and medical applications. Heterogeneous deformable models may be used to represent the actual internal structures of deformable biological objects, which possess multiple components and nonuniform material properties. Both heterogeneous deformable object modeling and accurate haptic rendering can greatly enhance the realism and fidelity of virtual reality environments. In this paper, a tri-ray node snapping algorithm is proposed to generate a volumetric heterogeneous deformable model from a set of object interface surfaces between different materials. A constrained local static integration method is presented for simulating deformation and accurate force feedback based on the material properties of a heterogeneous structure. Biological soft tissue modeling is used as an example to demonstrate the proposed techniques. By integrating the heterogeneous deformable model into a virtual environment, users can both observe different materials inside a deformable object as well as interact with it by touching the deformable object using a haptic device. The presented techniques can be used for surgical simulation, bio-product design, bio-manufacturing, and medical applications.

Look and Feel: Haptic Interaction for Biomedicine

DTIC Science & Technology

1995-10-01

algorithm that is evaluated within the topology of the model. During each time step, forces are summed for each mobile atom based on external forces...volumetric properties; (b) conserving computation power by rendering media local to the interaction point; and (c) evaluating the simulation within...alteration of the model topology. Simulation of the DSM state is accomplished by a multi-step algorithm that is evaluated within the topology of the

Haptic Exploration in Humans and Machines: Attribute Integration and Machine Recognition/Implementation.

DTIC Science & Technology

1988-04-30

side it necessary and Identify’ by’ block n~nmbot) haptic hand, touch , vision, robot, object recognition, categorization 20. AGSTRPACT (Continue an...established that the haptic system has remarkable capabilities for object recognition. We define haptics as purposive touch . The basic tactual system...gathered ratings of the importance of dimensions for categorizing common objects by touch . Texture and hardness ratings strongly co-vary, which is

Virtual wall-based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery.

PubMed

Seung, Sungmin; Choi, Hongseok; Jang, Jongseong; Kim, Young Soo; Park, Jong-Oh; Park, Sukho; Ko, Seong Young

2017-01-01

This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p < 0.05). The experiments show that virtual wall-based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.

Haptograph Representation of Real-World Haptic Information by Wideband Force Control

NASA Astrophysics Data System (ADS)

Katsura, Seiichiro; Irie, Kouhei; Ohishi, Kiyoshi

Artificial acquisition and reproduction of human sensations are basic technologies of communication engineering. For example, auditory information is obtained by a microphone, and a speaker reproduces it by artificial means. Furthermore, a video camera and a television make it possible to transmit visual sensation by broadcasting. On the contrary, since tactile or haptic information is subject to the Newton's “law of action and reaction” in the real world, a device which acquires, transmits, and reproduces the information has not been established. From the point of view, real-world haptics is the key technology for future haptic communication engineering. This paper proposes a novel acquisition method of haptic information named “haptograph”. The haptograph visualizes the haptic information like photograph. The proposed haptograph is applied to haptic recognition of the contact environment. A linear motor contacts to the surface of the environment and its reaction force is used to make a haptograph. A robust contact motion and sensor-less sensing of the reaction force are attained by using a disturbance observer. As a result, an encyclopedia of contact environment is attained. Since temporal and spatial analyses are conducted to represent haptic information as the haptograph, it is possible to be recognized and to be evaluated intuitively.

Visual and haptic integration in the estimation of softness of deformable objects

PubMed Central

Cellini, Cristiano; Kaim, Lukas; Drewing, Knut

2013-01-01

Softness perception intrinsically relies on haptic information. However, through everyday experiences we learn correspondences between felt softness and the visual effects of exploratory movements that are executed to feel softness. Here, we studied how visual and haptic information is integrated to assess the softness of deformable objects. Participants discriminated between the softness of two softer or two harder objects using only-visual, only-haptic or both visual and haptic information. We assessed the reliabilities of the softness judgments using the method of constant stimuli. In visuo-haptic trials, discrepancies between the two senses' information allowed us to measure the contribution of the individual senses to the judgments. Visual information (finger movement and object deformation) was simulated using computer graphics; input in visual trials was taken from previous visuo-haptic trials. Participants were able to infer softness from vision alone, and vision considerably contributed to bisensory judgments (∼35%). The visual contribution was higher than predicted from models of optimal integration (senses are weighted according to their reliabilities). Bisensory judgments were less reliable than predicted from optimal integration. We conclude that the visuo-haptic integration of softness information is biased toward vision, rather than being optimal, and might even be guided by a fixed weighting scheme. PMID:25165510

Substrate stiffness affects epithelial-mesenchymal transition of cervical cancer cells through miR-106b and its target protein DAB2.

PubMed

Piao, Jinlan; You, Ke; Guo, Yanli; Zhang, Youyi; Li, Zijian; Geng, Li

2017-06-01

The effects of different substrate stiffness were investigated on epithelial-mesenchymal transition (EMT) of cervical cancer cell lines and the role of miR-106b and its target protein DAB2 therein. Cervical cancer cell lines HeLa and SiHa were cultured on artificial substrates with different stiffness prepared using different ratios of acrylamide and bis-acrylamide. Changes of microRNA profiles were detected using microRNA chip analysis, and the expression levels of EMT-related markers E-cadherin and vimentin were detected using western blotting and real-time PCR. In addition, the effects of miR-106b overexpression as well as miR-106b and DAB2 knockdown on expression of E-cadherin and vimentin were also examined using western blotting and real-time PCR. The results showed that i) cervical cancer cell lines SiHa and HeLa cultured on substrate with stiffness of 20 kPa had the strongest EMT ability, showed the highest levels of vimentin and lowest levels of E-cadherin, compared with cells cultured on substrate with stiffness of 1 kPa; ii) miR-106b knockdown reversed the effects of substrate stiffness on EMT of cervical cancer cells, while miR-106 overexpression and DAB2 knockdown induced EMT of cervical cancer cells cultured on substrate with stiffness of 20 kPa. Overall, the results indicated that substrate stiffness could regulate EMT of cervical cancer cell lines HeLa and SiHa at least partially through miR-106b and its downstream target DAB2.

Quantitative Analysis of Immunohistochemistry in Melanoma Tumors

PubMed Central

Lilyquist, Jenna; White, Kirsten Anne Meyer; Lee, Rebecca J.; Philips, Genevieve K.; Hughes, Christopher R.; Torres, Salina M.

2017-01-01

Abstract Identification of positive staining is often qualitative and subjective. This is particularly troublesome in pigmented melanoma lesions, because melanin is difficult to distinguish from the brown stain resulting from immunohistochemistry (IHC) using horse radish peroxidase developed with 3,3′-Diaminobenzidine (HRP-DAB). We sought to identify and quantify positive staining, particularly in melanoma lesions. We visualized G-protein coupled estrogen receptor (GPER) expression developed with HRP-DAB and counterstained with Azure B (stains melanin) in melanoma tissue sections (n = 3). Matched sections (n = 3), along with 22 unmatched sections, were stained only with Azure B as a control. Breast tissue (n = 1) was used as a positive HRP-DAB control. Images of the stained tissues were generated using a Nuance Spectral Imaging Camera. Analysis of the images was performed using the Nuance Spectral Imaging software and SlideBook. Data was analyzed using a Kruskal–Wallis one way analysis of variance (ANOVA). We showed that a pigmented melanoma tissue doubly stained with anti-GPER HRP-DAB and Azure B can be unmixed using spectra derived from a matched, Azure B-only section, and an anti-GPER HRP-DAB control. We unmixed each of the melanoma lesions using each of the Azure B spectra, evaluated the mean intensity of positive staining, and examined the distribution of the mean intensities (P = .73; Kruskal–Wallis). These results suggest that this method does not require a matched Azure B-only stained control tissue for every melanoma lesion, allowing precious tissues to be conserved for other studies. Importantly, this quantification method reduces the subjectivity of protein expression analysis, and provides a valuable tool for accurate evaluation, particularly for pigmented tissues. PMID:28403073

Inhibitory properties of 1,4-dideoxy-1,4-imino-d-arabinitol (DAB) derivatives acting on glycogen metabolising enzymes.

PubMed

Díaz-Lobo, Mireia; Concia, Alda Lisa; Gómez, Livia; Clapés, Pere; Fita, Ignacio; Guinovart, Joan J; Ferrer, Joan C

2016-09-26

Glycogen synthase (GS) and glycogen phosphorylase (GP) are the key enzymes that control, respectively, the synthesis and degradation of glycogen, a multi-branched glucose polymer that serves as a form of energy storage in bacteria, fungi and animals. An abnormal glycogen metabolism is associated with several human diseases. Thus, GS and GP constitute adequate pharmacological targets to modulate cellular glycogen levels by means of their selective inhibition. The compound 1,4-dideoxy-1,4-imino-d-arabinitol (DAB) is a known potent inhibitor of GP. We studied the inhibitory effect of DAB, its enantiomer LAB, and 29 DAB derivatives on the activity of rat muscle glycogen phosphorylase (RMGP) and E. coli glycogen synthase (EcGS). The isoform 4 of sucrose synthase (SuSy4) from Solanum tuberosum L. was also included in the study for comparative purposes. Although these three enzymes possess highly conserved catalytic site architectures, the DAB derivatives analysed showed extremely diverse inhibitory potential. Subtle changes in the positions of crucial residues in their active sites are sufficient to discriminate among the structural differences of the tested inhibitors. For the two Leloir-type enzymes, EcGS and SuSy4, which use sugar nucleotides as donors, the inhibitory potency of the compounds analysed was synergistically enhanced by more than three orders of magnitude in the presence of ADP and UDP, respectively. Our results are consistent with a model in which these compounds bind to the subsite in the active centre of the enzymes that is normally occupied by the glucosyl residue which is transferred between donor and acceptor substrates. The ability to selectively inhibit the catalytic activity of the key enzymes of the glycogen metabolism may represent a new approach for the treatment of disorders of the glycogen metabolism.

“Time for dabs”: Analyzing Twitter data on marijuana concentrates across the U.S.

PubMed Central

Daniulaityte, Raminta; Nahhas, Ramzi W.; Wijeratne, Sanjaya; Carlson, Robert G.; Lamy, Francois R.; Martins, Silvia S.; Boyer, Edward W.; Smith, G. Alan; Sheth, Amit

2015-01-01

Aims Media reports suggest increasing popularity of marijuana concentrates (“dabs”; “earwax”; “budder”; “shatter; “butane hash oil”) that are typically vaporized and inhaled via a bong, vaporizer or electronic cigarette. However, data on the epidemiology of marijuana concentrate use remain limited. This study aims to explore Twitter data on marijuana concentrate use in the U.S. and identify differences across regions of the country with varying cannabis legalization policies. Methods Tweets were collected between October 20 and December 20, 2014, using Twitter's streaming API. Twitter data filtering framework was available through the eDrugTrends platform. Raw and adjusted percentages of dabs-related tweets per state were calculated. A permutation test was used to examine differences in the adjusted percentages of dabs-related tweets among U.S. states with different cannabis legalization policies. Results eDrugTrends collected a total of 125,255 tweets. Almost 22% (n=27,018) of these tweets contained identifiable state-level geolocation information. Dabs-related tweet volume for each state was adjusted using a general sample of tweets to account for different levels of overall tweeting activity for each state. Adjusted percentages of dabs-related tweets were highest in states that allowed recreational and/or medicinal cannabis use and lowest in states that have not passed medical cannabis use laws. The differences were statistically significant. Conclusions Twitter data suggest greater popularity of dabs in the states that legalized recreational and/or medical use of cannabis. The study provides new information on the epidemiology of marijuana concentrate use and contributes to the emerging field of social media analysis for drug abuse research. PMID:26338481

The Haptic Paradigm in Education: Challenges and Case Studies

ERIC Educational Resources Information Center

Hamza-Lup, Felix G.; Stanescu, Ioana A.

2010-01-01

The process of learning involves interaction with the learning environment through our five senses (sight, hearing, touch, smell, and taste). Until recently, distance education focused only on the first two of those senses, sight and sound. Internet-based learning environments are predominantly visual with auditory components. With the advent of…

Mechanical properties of intra-ocular lenses

NASA Astrophysics Data System (ADS)

Ehrmann, Klaus; Kim, Eon; Parel, Jean-Marie

2008-02-01

Cataract surgery usually involves the replacement of the natural crystalline lens with a rigid or foldable intraocular lens to restore clear vision for the patient. While great efforts have been placed on optimising the shape and optical characteristics of IOLs, little is know about the mechanical properties of these devices and how they interact with the capsular bag once implanted. Mechanical properties measurements were performed on 8 of the most commonly implanted IOLs using a custom build micro tensometer. Measurement data will be presented for the stiffness of the haptic elements, the buckling resistance of foldable IOLs, the dynamic behaviour of the different lens materials and the axial compressibility. The biggest difference between the lens types was found between one-piece and 3-piece lenses with respect to the flexibility of the haptic elements

A network architecture supporting consistent rich behavior in collaborative interactive applications.

PubMed

Marsh, James; Glencross, Mashhuda; Pettifer, Steve; Hubbold, Roger

2006-01-01

Network architectures for collaborative virtual reality have traditionally been dominated by client-server and peer-to-peer approaches, with peer-to-peer strategies typically being favored where minimizing latency is a priority, and client-server where consistency is key. With increasingly sophisticated behavior models and the demand for better support for haptics, we argue that neither approach provides sufficient support for these scenarios and, thus, a hybrid architecture is required. We discuss the relative performance of different distribution strategies in the face of real network conditions and illustrate the problems they face. Finally, we present an architecture that successfully meets many of these challenges and demonstrate its use in a distributed virtual prototyping application which supports simultaneous collaboration for assembly, maintenance, and training applications utilizing haptics.

Evidence for balancing selection at the DAB locus in the axolotl, Ambystoma mexicanum.

PubMed

Richman, A D; Herrera, G; Reynoso, V H; Méndez, G; Zambrano, L

2007-12-01

The axolotl (Ambystoma mexicanum) has been characterized as immunodeficient, and the absence of major histocompatibility complex (MHC) class II polymorphism has been cited as a possible explanation. Here we present evidence for considerable allelic polymorphism at the MHC class II DAB locus for a sample of wild-caught axolotls. Evidence that these sequences are the product of balancing selection for disease resistance is discussed.

Detection of cyanotoxins, β-N-methylamino-L-alanine and microcystins, from a lake surrounded by cases of amyotrophic lateral sclerosis.

PubMed

Banack, Sandra Anne; Caller, Tracie; Henegan, Patricia; Haney, James; Murby, Amanda; Metcalf, James S; Powell, James; Cox, Paul Alan; Stommel, Elijah

2015-01-29

A cluster of amyotrophic lateral sclerosis (ALS) has been previously described to border Lake Mascoma in Enfield, NH, with an incidence of ALS approximating 25 times expected. We hypothesize a possible association with cyanobacterial blooms that can produce β-N-methylamino-L-alanine (BMAA), a neurotoxic amino acid implicated as a possible cause of ALS/PDC in Guam. Muscle, liver, and brain tissue samples from a Lake Mascoma carp, as well as filtered aerosol samples, were analyzed for microcystins (MC), free and protein-bound BMAA, and the BMAA isomers 2,4-diaminobutyric acid (DAB) and N-(2-aminoethyl)glycine (AEG). In carp brain, BMAA and DAB concentrations were 0.043 μg/g ± 0.02 SD and 0.01 μg/g ± 0.002 SD respectively. In carp liver and muscle, the BMAA concentrations were 1.28 μg/g and 1.27 μg/g respectively, and DAB was not detected. BMAA was detected in the air filters, as were the isomers DAB and AEG. These results demonstrate that a putative cause for ALS, BMAA, exists in an environment that has a documented cluster of ALS. Although cause and effect have not been demonstrated, our observations and measurements strengthen the association.

Functional specialization and convergence in the occipito-temporal cortex supporting haptic and visual identification of human faces and body parts: an fMRI study.

PubMed

Kitada, Ryo; Johnsrude, Ingrid S; Kochiyama, Takanori; Lederman, Susan J

2009-10-01

Humans can recognize common objects by touch extremely well whenever vision is unavailable. Despite its importance to a thorough understanding of human object recognition, the neuroscientific study of this topic has been relatively neglected. To date, the few published studies have addressed the haptic recognition of nonbiological objects. We now focus on haptic recognition of the human body, a particularly salient object category for touch. Neuroimaging studies demonstrate that regions of the occipito-temporal cortex are specialized for visual perception of faces (fusiform face area, FFA) and other body parts (extrastriate body area, EBA). Are the same category-sensitive regions activated when these components of the body are recognized haptically? Here, we use fMRI to compare brain organization for haptic and visual recognition of human body parts. Sixteen subjects identified exemplars of faces, hands, feet, and nonbiological control objects using vision and haptics separately. We identified two discrete regions within the fusiform gyrus (FFA and the haptic face region) that were each sensitive to both haptically and visually presented faces; however, these two regions differed significantly in their response patterns. Similarly, two regions within the lateral occipito-temporal area (EBA and the haptic body region) were each sensitive to body parts in both modalities, although the response patterns differed. Thus, although the fusiform gyrus and the lateral occipito-temporal cortex appear to exhibit modality-independent, category-sensitive activity, our results also indicate a degree of functional specialization related to sensory modality within these structures.

Solid shape discrimination from vision and haptics: natural objects (Capsicum annuum) and Gibson's "feelies".

PubMed

Norman, J Farley; Phillips, Flip; Holmin, Jessica S; Norman, Hideko F; Beers, Amanda M; Boswell, Alexandria M; Cheeseman, Jacob R; Stethen, Angela G; Ronning, Cecilia

2012-10-01

A set of three experiments evaluated 96 participants' ability to visually and haptically discriminate solid object shape. In the past, some researchers have found haptic shape discrimination to be substantially inferior to visual shape discrimination, while other researchers have found haptics and vision to be essentially equivalent. A primary goal of the present study was to understand these discrepant past findings and to determine the true capabilities of the haptic system. All experiments used the same task (same vs. different shape discrimination) and stimulus objects (James Gibson's "feelies" and a set of naturally shaped objects--bell peppers). However, the methodology varied across experiments. Experiment 1 used random 3-dimensional (3-D) orientations of the stimulus objects, and the conditions were full-cue (active manipulation of objects and rotation of the visual objects in depth). Experiment 2 restricted the 3-D orientations of the stimulus objects and limited the haptic and visual information available to the participants. Experiment 3 compared restricted and full-cue conditions using random 3-D orientations. We replicated both previous findings in the current study. When we restricted visual and haptic information (and placed the stimulus objects in the same orientation on every trial), the participants' visual performance was superior to that obtained for haptics (replicating the earlier findings of Davidson et al. in Percept Psychophys 15(3):539-543, 1974). When the circumstances resembled those of ordinary life (e.g., participants able to actively manipulate objects and see them from a variety of perspectives), we found no significant difference between visual and haptic solid shape discrimination.

Processing time of addition or withdrawal of single or combined balance-stabilizing haptic and visual information

PubMed Central

Honeine, Jean-Louis; Crisafulli, Oscar; Sozzi, Stefania

2015-01-01

We investigated the integration time of haptic and visual input and their interaction during stance stabilization. Eleven subjects performed four tandem-stance conditions (60 trials each). Vision, touch, and both vision and touch were added and withdrawn. Furthermore, vision was replaced with touch and vice versa. Body sway, tibialis anterior, and peroneus longus activity were measured. Following addition or withdrawal of vision or touch, an integration time period elapsed before the earliest changes in sway were observed. Thereafter, sway varied exponentially to a new steady-state while reweighting occurred. Latencies of sway changes on sensory addition ranged from 0.6 to 1.5 s across subjects, consistently longer for touch than vision, and were regularly preceded by changes in muscle activity. Addition of vision and touch simultaneously shortened the latencies with respect to vision or touch separately, suggesting cooperation between sensory modalities. Latencies following withdrawal of vision or touch or both simultaneously were shorter than following addition. When vision was replaced with touch or vice versa, adding one modality did not interfere with the effect of withdrawal of the other, suggesting that integration of withdrawal and addition were performed in parallel. The time course of the reweighting process to reach the new steady-state was also shorter on withdrawal than addition. The effects of different sensory inputs on posture stabilization illustrate the operation of a time-consuming, possibly supraspinal process that integrates and fuses modalities for accurate balance control. This study also shows the facilitatory interaction of visual and haptic inputs in integration and reweighting of stance-stabilizing inputs. PMID:26334013

Learning in a Virtual Environment Using Haptic Systems for Movement Re-Education: Can This Medium Be Used for Remodeling Other Behaviors and Actions?

PubMed Central

Merians, Alma S; Fluet, Gerard G; Qiu, Qinyin; Lafond, Ian; Adamovich, Sergei V

2011-01-01

Robotic systems that are interfaced with virtual reality gaming and task simulations are increasingly being developed to provide repetitive intensive practice to promote increased compliance and facilitate better outcomes in rehabilitation post-stroke. A major development in the use of virtual environments (VEs) has been to incorporate tactile information and interaction forces into what was previously an essentially visual experience. Robots of varying complexity are being interfaced with more traditional virtual presentations to provide haptic feedback that enriches the sensory experience and adds physical task parameters. This provides forces that produce biomechanical and neuromuscular interactions with the VE that approximate real-world movement more accurately than visual-only VEs, simulating the weight and force found in upper extremity tasks. The purpose of this article is to present an overview of several systems that are commercially available for ambulation training and for training movement of the upper extremity. We will also report on the system that we have developed (NJIT-RAVR system) that incorporates motivating and challenging haptic feedback effects into VE simulations to facilitate motor recovery of the upper extremity post-stroke. The NJIT-RAVR system trains both the upper arm and the hand. The robotic arm acts as an interface between the participants and the VEs, enabling multiplanar movements against gravity in a three-dimensional workspace. The ultimate question is whether this medium can provide a motivating, challenging, gaming experience with dramatically decreased physical difficulty levels, which would allow for participation by an obese person and facilitate greater adherence to exercise regimes. PMID:21527097

A study on haptic collaborative game in shared virtual environment

NASA Astrophysics Data System (ADS)

Lu, Keke; Liu, Guanyang; Liu, Lingzhi

2013-03-01

A study on collaborative game in shared virtual environment with haptic feedback over computer networks is introduced in this paper. A collaborative task was used where the players located at remote sites and played the game together. The player can feel visual and haptic feedback in virtual environment compared to traditional networked multiplayer games. The experiment was desired in two conditions: visual feedback only and visual-haptic feedback. The goal of the experiment is to assess the impact of force feedback on collaborative task performance. Results indicate that haptic feedback is beneficial for performance enhancement for collaborative game in shared virtual environment. The outcomes of this research can have a powerful impact on the networked computer games.

Development of Velocity Guidance Assistance System by Haptic Accelerator Pedal Reaction Force Control

NASA Astrophysics Data System (ADS)

Yin, Feilong; Hayashi, Ryuzo; Raksincharoensak, Pongsathorn; Nagai, Masao

This research proposes a haptic velocity guidance assistance system for realizing eco-driving as well as enhancing traffic capacity by cooperating with ITS (Intelligent Transportation Systems). The proposed guidance system generates the desired accelerator pedal (abbreviated as pedal) stroke with respect to the desired velocity obtained from ITS considering vehicle dynamics, and provides the desired pedal stroke to the driver via a haptic pedal whose reaction force is controllable and guides the driver in order to trace the desired velocity in real time. The main purpose of this paper is to discuss the feasibility of the haptic velocity guidance. A haptic velocity guidance system for research is developed on the Driving Simulator of TUAT (DS), by attaching a low-inertia, low-friction motor to the pedal, which does not change the original characteristics of the original pedal when it is not operated, implementing an algorithm regarding the desired pedal stroke calculation and the reaction force controller. The haptic guidance maneuver is designed based on human pedal stepping experiments. A simple velocity profile with acceleration, deceleration and cruising is synthesized according to naturalistic driving for testing the proposed system. The experiment result of 9 drivers shows that the haptic guidance provides high accuracy and quick response in velocity tracking. These results prove that the haptic guidance is a promising velocity guidance method from the viewpoint of HMI (Human Machine Interface).

Haptic perception accuracy depending on self-produced movement.

PubMed

Park, Chulwook; Kim, Seonjin

2014-01-01

This study measured whether self-produced movement influences haptic perception ability (experiment 1) as well as the factors associated with levels of influence (experiment 2) in racket sports. For experiment 1, the haptic perception accuracy levels of five male table tennis experts and five male novices were examined under two different conditions (no movement vs. movement). For experiment 2, the haptic afferent subsystems of five male table tennis experts and five male novices were investigated in only the self-produced movement-coupled condition. Inferential statistics (ANOVA, t-test) and custom-made devices (shock & vibration sensor, Qualisys Track Manager) of the data were used to determine the haptic perception accuracy (experiment 1, experiment 2) and its association with expertise. The results of this research show that expert-level players acquire higher accuracy with less variability (racket vibration and angle) than novice-level players, especially in their self-produced movement coupled performances. The important finding from this result is that, in terms of accuracy, the skill-associated differences were enlarged during self-produced movement. To explain the origin of this difference between experts and novices, the functional variability of haptic afferent subsystems can serve as a reference. These two factors (self-produced accuracy and the variability of haptic features) as investigated in this study would be useful criteria for educators in racket sports and suggest a broader hypothesis for further research into the effects of the haptic accuracy related to variability.

Mechatronic design of haptic forceps for robotic surgery.

PubMed

Rizun, P; Gunn, D; Cox, B; Sutherland, G

2006-12-01

Haptic feedback increases operator performance and comfort during telerobotic manipulation. Feedback of grasping pressure is critical in many microsurgical tasks, yet no haptic interface for surgical tools is commercially available. Literature on the psychophysics of touch was reviewed to define the spectrum of human touch perception and the fidelity requirements of an ideal haptic interface. Mechanical design and control literature was reviewed to translate the psychophysical requirements to engineering specification. High-fidelity haptic forceps were then developed through an iterative process between engineering and surgery. The forceps are a modular device that integrate with a haptic hand controller to add force feedback for tool actuation in telerobotic or virtual surgery. Their overall length is 153 mm and their mass is 125 g. A contact-free voice coil actuator generates force feedback at frequencies up to 800 Hz. Maximum force output is 6 N (2N continuous) and the force resolution is 4 mN. The forceps employ a contact-free magnetic position sensor as well as micro-machined accelerometers to measure opening/closing acceleration. Position resolution is 0.6 microm with 1.3 microm RMS noise. The forceps can simulate stiffness greater than 20N/mm or impedances smaller than 15 g with no noticeable haptic artifacts or friction. As telerobotic surgery evolves, haptics will play an increasingly important role. Copyright 2006 John Wiley & Sons, Ltd.

Spatial patterns of cutaneous vibration during whole-hand haptic interactions

PubMed Central

Hayward, Vincent; Visell, Yon

2016-01-01

We investigated the propagation patterns of cutaneous vibration in the hand during interactions with touched objects. Prior research has highlighted the importance of vibrotactile signals during haptic interactions, but little is known of how vibrations propagate throughout the hand. Furthermore, the extent to which the patterns of vibrations reflect the nature of the objects that are touched, and how they are touched, is unknown. Using an apparatus comprised of an array of accelerometers, we mapped and analyzed spatial distributions of vibrations propagating in the skin of the dorsal region of the hand during active touch, grasping, and manipulation tasks. We found these spatial patterns of vibration to vary systematically with touch interactions and determined that it is possible to use these data to decode the modes of interaction with touched objects. The observed vibration patterns evolved rapidly in time, peaking in intensity within a few milliseconds, fading within 20–30 ms, and yielding interaction-dependent distributions of energy in frequency bands that span the range of vibrotactile sensitivity. These results are consistent with findings in perception research that indicate that vibrotactile information distributed throughout the hand can transmit information regarding explored and manipulated objects. The results may further clarify the role of distributed sensory resources in the perceptual recovery of object attributes during active touch, may guide the development of approaches to robotic sensing, and could have implications for the rehabilitation of the upper extremity. PMID:27035957

Fundamental relation between molecular geometry and real-space topology. Combined AIM, ELI-D, and ASF analysis of hapticities and intramolecular hydrogen-hydrogen bonds in zincocene-related compounds.

PubMed

Mebs, Stefan; Chilleck, Maren Annika; Meindl, Kathrin; Hübschle, Christian Bertram

2014-06-19

Despite numerous advanced and widely distributed bonding theories such as MO, VB, NBO, AIM, and ELF/ELI-D, complex modes of bonding such as M-Cp*((R)) interactions (hapticities) in asymmetrical metallocenes or weak intramolecular interactions (e.g., hydrogen-hydrogen (H···H) bonds) still remain a challenge for these theories in terms of defining whether or not an atom-atom interaction line (a "chemical bond") should be drawn. In this work the intramolecular Zn-C(Cp*(R)) (R = Me, -(CH2)2NMe2, and -(CH2)3NMe2) and H···H connectivity of a systematic set of 12 zincocene-related compounds is analyzed in terms of AIM and ELI-D topology combined with the recently introduced aspherical stockholder fragment (ASF) surfaces. This computational analysis unravels a distinct dependency of the AIM and ELI-D topology against the molecular geometry for both types of interactions, which confirms and extends earlier findings on smaller sets of compounds. According to these results the complete real-space topology including strong, medium, and weak interactions of very large compounds such as proteins may be reliably predicted by sole inspection of accurately determined molecular geometries, which would on the one hand afford new applications (e.g., accurate estimation of numbers, types, and strengths of intra- and intermolecular interactions) and on the other hand have deep implications on the significance of the method.

What you can't feel won't hurt you: Evaluating haptic hardware using a haptic contrast sensitivity function.

PubMed

Salisbury, C M; Gillespie, R B; Tan, H Z; Barbagli, F; Salisbury, J K

2011-01-01

In this paper, we extend the concept of the contrast sensitivity function - used to evaluate video projectors - to the evaluation of haptic devices. We propose using human observers to determine if vibrations rendered using a given haptic device are accompanied by artifacts detectable to humans. This determination produces a performance measure that carries particular relevance to applications involving texture rendering. For cases in which a device produces detectable artifacts, we have developed a protocol that localizes deficiencies in device design and/or hardware implementation. In this paper, we present results from human vibration detection experiments carried out using three commercial haptic devices and one high performance voice coil motor. We found that all three commercial devices produced perceptible artifacts when rendering vibrations near human detection thresholds. Our protocol allowed us to pinpoint the deficiencies, however, and we were able to show that minor modifications to the haptic hardware were sufficient to make these devices well suited for rendering vibrations, and by extension, the vibratory components of textures. We generalize our findings to provide quantitative design guidelines that ensure the ability of haptic devices to proficiently render the vibratory components of textures.

Haptic Feedback in Robot-Assisted Minimally Invasive Surgery

PubMed Central

Okamura, Allison M.

2009-01-01

Purpose of Review Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon while minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technical challenges of creating haptic feedback for robot-assisted surgery and provides recent results that evaluate the effectiveness of haptic feedback in mock surgical tasks. Recent Findings Haptic feedback systems for RMIS are still under development and evaluation. Most provide only force feedback, with limited fidelity. The major challenge at this time is sensing forces applied to the patient. A few tactile feedback systems for RMIS have been created, but their practicality for clinical implementation needs to be shown. It is particularly difficult to sense and display spatially distributed tactile information. The cost-benefit ratio for haptic feedback in RMIS has not been established. Summary The designs of existing commercial RMIS systems are not conducive for force feedback, and creative solutions are needed to create compelling tactile feedback systems. Surgeons, engineers, and neuroscientists should work together to develop effective solutions for haptic feedback in RMIS. PMID:19057225

Learning, retention, and generalization of haptic categories

NASA Astrophysics Data System (ADS)

Do, Phuong T.

This dissertation explored how haptic concepts are learned, retained, and generalized to the same or different modality. Participants learned to classify objects into three categories either visually or haptically via different training procedures, followed by an immediate or delayed transfer test. Experiment I involved visual versus haptic learning and transfer. Intermodal matching between vision and haptics was investigated in Experiment II. Experiments III and IV examined intersensory conflict in within- and between-category bimodal situations to determine the degree of perceptual dominance between sight and touch. Experiment V explored the intramodal relationship between similarity and categorization in a psychological space, as revealed by MDS analysis of similarity judgments. Major findings were: (1) visual examination resulted in relatively higher performance accuracy than haptic learning; (2) systematic training produced better category learning of haptic concepts across all modality conditions; (3) the category prototypes were rated newer than any transfer stimulus followed learning both immediately and after a week delay; and, (4) although they converged at the apex of two transformational trajectories, the category prototypes became more central to their respective categories and increasingly structured as a function of learning. Implications for theories of multimodal similarity and categorization behavior are discussed in terms of discrimination learning, sensory integration, and dominance relation.

The Combination Process for Preparative Separation and Purification of Paclitaxel and 10-Deacetylbaccatin III Using Diaion® Hp-20 Followed by Hydrophilic Interaction Based Solid Phase Extraction.

PubMed

Shirshekanb, Mahsa; Rezadoost, Hassan; Javanbakht, Mehran; Ghassempour, Ali Reza

2017-01-01

There is no other naturally occurring defense agent against cancer that has a stronger effect than paclitaxel, commonly known under the brand name of Taxol ® . The major drawback for the more widespread use of paclitaxel and its precious precursor, 10-deacetylbaccatin III (10-DAB III), is that they require large-scale extraction from different parts of yew trees ( Taxus species), cell cultures, taxane-producing endophytic fungi, and Corylus species. In our previous work, a novel online two-dimensional heart-cut liquid chromatography process using hydrophilic interaction/ reversed-phase chromatography was used to introduce a semi-preparative treatment for the separation of polar (10-deacetylbaccatin III) and non-polar (paclitaxel) taxanes from Taxus baccata L. In this work, a combination of the absorbent (Diaion ®  HP-20) and a silica based solid phase extraction is utilized as a new, efficient, and cost effective method for large-scale production of taxanes. This process avoids the technical problem of two-dimensional preparative liquid chromatography. The first stage of the process involves discarding co-extractive polar compounds including chlorophylls and pigments using a non-polar synthetic hydrophobic absorbent, Diaion ®  HP-20. Extract was then loaded on to a silica based hydrophilic interaction solid phase extraction (silica 40-60 micron). Taxanes was eluted using a mixture of water and methanol at the optimized ratio of 70:30. Finally, the fraction containing taxanes was applied to semi-preparative reversed phase HPLC. The results revealed that using this procedure, paclitaxel and 10-DAB III could be obtained at 8 and 3 times more, respectively than by the traditional method of extraction.

CVN 78 Gerald R. Ford Class Nuclear Aircraft Carrier (CVN 78)

DTIC Science & Technology

2013-12-01

Capabil... -Follow-on Ship (CVN 79) DAB Program Review - • Start Construction - • Delivery .-:K IOT &E IOT &E Start .-:41 IOT &E Complete e(41 Follow-on...Ship (CVN 80) DAB Program Review -Platform-Level Integration D ... ....., Milestone C .. EMALS EMALS Delivery (with Ship) .-:o; IOC ..:<! IOT ...E IOT &E Start ..:<! IOT &E Complete -· Platform-Level Integration .. ...:<! CVN 78 Milestones SAR Baseline Dev Est Current APB Development

Microbial transformations of the taxan ring of 10-DAB by some strains of the fungus Curvularia lunata: formation of the bis-abeotaxanes wallifoliol and 4-deacylwallifoliol.

PubMed

Arnone, Alberto; Bava, Adriana; Fronza, Giovanni; Malpezzi, Luciana; Nasini, Gianluca

2010-06-25

The fermentation of 10-deacetylbaccatine III (10-DAB) (1) with Curvularia lunata afforded 4-deacylwallifoliol (4) and wallifoliol (5), the only natural taxoid with the unusual 5/6/6/6/4 ring system. The X-ray structure of compound 4 is reported. The skeletal rearrangements induced by the microbial enzymatic systems are also discussed.

Synthetic Lectins: New Tools for Detection and Management of Prostate Cancer

DTIC Science & Technology

2015-09-01

were synthesized on Tentagel resin analogous to those previously described.2 The effectiveness of the coupling was assessed using MALDI-MS in the...protecting groups on the Dab side -chains (where boronic acids are attached). This appeared to be a significant portion of the product, composing up...evaluate our synthetic approach and tried different side -chain amine protecting groups on Dab including alloc and MTT. From these studies, we

Haptic augmented skin surface generation toward telepalpation from a mobile skin image.

PubMed

Kim, K

2018-05-01

Very little is known about the methods of integrating palpation techniques to existing mobile teleskin imaging that delivers low quality tactile information (roughness) for telepalpation. However, no study has been reported yet regarding telehaptic palpation using mobile phone images for teledermatology or teleconsultations of skincare. This study is therefore aimed at introducing a new algorithm accurately reconstructing a haptic augmented skin surface for telehaptic palpation using a low-cost clip-on microscope simply attached to a mobile phone. Multiple algorithms such as gradient-based image enhancement, roughness-adaptive tactile mask generation, roughness-enhanced 3D tactile map building, and visual and haptic rendering with a three-degrees-of-freedom (DOF) haptic device were developed and integrated as one system. Evaluation experiments have been conducted to test the performance of 3D roughness reconstruction with/without the tactile mask. The results confirm that reconstructed haptic roughness with the tactile mask is superior to the reconstructed haptic roughness without the tactile mask. Additional experiments demonstrate that the proposed algorithm is robust against varying lighting conditions and blurring. In last, a user study has been designed to see the effect of the haptic modality to the existing visual only interface and the results attest that the haptic skin palpation can significantly improve the skin exam performance. Mobile image-based telehaptic palpation technology was proposed, and an initial version was developed. The developed technology was tested with several skin images and the experimental results showed the superiority of the proposed scheme in terms of the performance of haptic augmentation of real skin images. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

The contributions of vision and haptics to reaching and grasping

PubMed Central

Stone, Kayla D.; Gonzalez, Claudia L. R.

2015-01-01

This review aims to provide a comprehensive outlook on the sensory (visual and haptic) contributions to reaching and grasping. The focus is on studies in developing children, normal, and neuropsychological populations, and in sensory-deprived individuals. Studies have suggested a right-hand/left-hemisphere specialization for visually guided grasping and a left-hand/right-hemisphere specialization for haptically guided object recognition. This poses the interesting possibility that when vision is not available and grasping relies heavily on the haptic system, there is an advantage to use the left hand. We review the evidence for this possibility and dissect the unique contributions of the visual and haptic systems to grasping. We ultimately discuss how the integration of these two sensory modalities shape hand preference. PMID:26441777

Haptic, Virtual Interaction and Motor Imagery: Entertainment Tools and Psychophysiological Testing

PubMed Central

Invitto, Sara; Faggiano, Chiara; Sammarco, Silvia; De Luca, Valerio; De Paolis, Lucio T.

2016-01-01

In this work, the perception of affordances was analysed in terms of cognitive neuroscience during an interactive experience in a virtual reality environment. In particular, we chose a virtual reality scenario based on the Leap Motion controller: this sensor device captures the movements of the user’s hand and fingers, which are reproduced on a computer screen by the proper software applications. For our experiment, we employed a sample of 10 subjects matched by age and sex and chosen among university students. The subjects took part in motor imagery training and immersive affordance condition (a virtual training with Leap Motion and a haptic training with real objects). After each training sessions the subject performed a recognition task, in order to investigate event-related potential (ERP) components. The results revealed significant differences in the attentional components during the Leap Motion training. During Leap Motion session, latencies increased in the occipital lobes, which are entrusted to visual sensory; in contrast, latencies decreased in the frontal lobe, where the brain is mainly activated for attention and action planning. PMID:26999151

Haptic, Virtual Interaction and Motor Imagery: Entertainment Tools and Psychophysiological Testing.

PubMed

Invitto, Sara; Faggiano, Chiara; Sammarco, Silvia; De Luca, Valerio; De Paolis, Lucio T

2016-03-18

In this work, the perception of affordances was analysed in terms of cognitive neuroscience during an interactive experience in a virtual reality environment. In particular, we chose a virtual reality scenario based on the Leap Motion controller: this sensor device captures the movements of the user's hand and fingers, which are reproduced on a computer screen by the proper software applications. For our experiment, we employed a sample of 10 subjects matched by age and sex and chosen among university students. The subjects took part in motor imagery training and immersive affordance condition (a virtual training with Leap Motion and a haptic training with real objects). After each training sessions the subject performed a recognition task, in order to investigate event-related potential (ERP) components. The results revealed significant differences in the attentional components during the Leap Motion training. During Leap Motion session, latencies increased in the occipital lobes, which are entrusted to visual sensory; in contrast, latencies decreased in the frontal lobe, where the brain is mainly activated for attention and action planning.

Robotic guidance benefits the learning of dynamic, but not of spatial movement characteristics.

PubMed

Lüttgen, Jenna; Heuer, Herbert

2012-10-01

Robotic guidance is an engineered form of haptic-guidance training and intended to enhance motor learning in rehabilitation, surgery, and sports. However, its benefits (and pitfalls) are still debated. Here, we investigate the effects of different presentation modes on the reproduction of a spatiotemporal movement pattern. In three different groups of participants, the movement was demonstrated in three different modalities, namely visual, haptic, and visuo-haptic. After demonstration, participants had to reproduce the movement in two alternating recall conditions: haptic and visuo-haptic. Performance of the three groups during recall was compared with regard to spatial and dynamic movement characteristics. After haptic presentation, participants showed superior dynamic accuracy, whereas after visual presentation, participants performed better with regard to spatial accuracy. Added visual feedback during recall always led to enhanced performance, independent of the movement characteristic and the presentation modality. These findings substantiate the different benefits of different presentation modes for different movement characteristics. In particular, robotic guidance is beneficial for the learning of dynamic, but not of spatial movement characteristics.

Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.

PubMed

Beyl, T; Nicolai, P; Mönnich, H; Raczkowksy, J; Wörn, H

2012-01-01

In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.

Augmented reality and haptic interfaces for robot-assisted surgery.

PubMed

Yamamoto, Tomonori; Abolhassani, Niki; Jung, Sung; Okamura, Allison M; Judkins, Timothy N

2012-03-01

Current teleoperated robot-assisted minimally invasive surgical systems do not take full advantage of the potential performance enhancements offered by various forms of haptic feedback to the surgeon. Direct and graphical haptic feedback systems can be integrated with vision and robot control systems in order to provide haptic feedback to improve safety and tissue mechanical property identification. An interoperable interface for teleoperated robot-assisted minimally invasive surgery was developed to provide haptic feedback and augmented visual feedback using three-dimensional (3D) graphical overlays. The software framework consists of control and command software, robot plug-ins, image processing plug-ins and 3D surface reconstructions. The feasibility of the interface was demonstrated in two tasks performed with artificial tissue: palpation to detect hard lumps and surface tracing, using vision-based forbidden-region virtual fixtures to prevent the patient-side manipulator from entering unwanted regions of the workspace. The interoperable interface enables fast development and successful implementation of effective haptic feedback methods in teleoperation. Copyright © 2011 John Wiley & Sons, Ltd.

Design of a 7-DOF haptic master using a magneto-rheological devices for robot surgery

NASA Astrophysics Data System (ADS)

Kang, Seok-Rae; Choi, Seung-Bok; Hwang, Yong-Hoon; Cha, Seung-Woo

2017-04-01

This paper presents a 7 degrees-of-freedom (7-DOF) haptic master which is applicable to the robot-assisted minimally invasive surgery (RMIS). By utilizing a controllable magneto-rheological (MR) fluid, the haptic master can provide force information to the surgeon during surgery. The proposed haptic master consists of three degrees motions of X, Y, Z and four degrees motions of the pitch, yaw, roll and grasping. All of them have force feedback capability. The proposed haptic master can generate the repulsive forces or torques by activating MR clutch and MR brake. Both MR clutch and MR brake are designed and manufactured with consideration of the size and output torque which is usable to the robotic surgery. A proportional-integral-derivative (PID) controller is then designed and implemented to achieve torque/force tracking trajectories. It is verified that the proposed haptic master can track well the desired torque and force occurred in the surgical place by controlling the input current applied to MR clutch and brake.

Haptic fMRI: Reliability and performance of electromagnetic haptic interfaces for motion and force neuroimaging experiments.

PubMed

Menon, Samir; Zhu, Jack; Goyal, Deeksha; Khatib, Oussama

2017-07-01

Haptic interfaces compatible with functional magnetic resonance imaging (Haptic fMRI) promise to enable rich motor neuroscience experiments that study how humans perform complex manipulation tasks. Here, we present a large-scale study (176 scans runs, 33 scan sessions) that characterizes the reliability and performance of one such electromagnetically actuated device, Haptic fMRI Interface 3 (HFI-3). We outline engineering advances that ensured HFI-3 did not interfere with fMRI measurements. Observed fMRI temporal noise levels with HFI-3 operating were at the fMRI baseline (0.8% noise to signal). We also present results from HFI-3 experiments demonstrating that high resolution fMRI can be used to study spatio-temporal patterns of fMRI blood oxygenation dependent (BOLD) activation. These experiments include motor planning, goal-directed reaching, and visually-guided force control. Observed fMRI responses are consistent with existing literature, which supports Haptic fMRI's effectiveness at studying the brain's motor regions.

Effects of Motion and Figural Goodness on Haptic Object Perception in Infancy.

ERIC Educational Resources Information Center

Streri, Arlette; Spelke, Elizabeth S.

1989-01-01

After haptic habituation to a ring display, infants perceived the rings in two experiments as parts of one connected object. In both haptic and visual modes, infants appeared to perceive object unity by analyzing motion but not by analyzing figural goodness. (RH)

Teaching Classical Mechanics Concepts Using Visuo-Haptic Simulators

ERIC Educational Resources Information Center

Neri, Luis; Noguez, Julieta; Robledo-Rella, Victor; Escobar-Castillejos, David; Gonzalez-Nucamendi, Andres

2018-01-01

In this work, the design and implementation of several physics scenarios using haptic devices are presented and discussed. Four visuo-haptic applications were developed for an undergraduate engineering physics course. Experiments with experimental and control groups were designed and implemented. Activities and exercises related to classical…

Large displacement haptic stimulus actuator using piezoelectric pump for wearable devices.

PubMed

Kodama, Taisuke; Izumi, Shintaro; Masaki, Kana; Kawaguchi, Hiroshi; Maenaka, Kazusuke; Yoshimoto, Masahiko

2015-08-01

Recently, given Japan's aging society background, wearable healthcare devices have increasingly attracted attention. Many devices have been developed, but most devices have only a sensing function. To expand the application area of wearable healthcare devices, an interactive communication function with the human body is required using an actuator. For example, a device must be useful for medication assistance, predictive alerts of a disease such as arrhythmia, and exercise. In this work, a haptic stimulus actuator using a piezoelectric pump is proposed to realize a large displacement in wearable devices. The proposed actuator drives tactile sensation of the human body. The measurement results obtained using a sensory examination demonstrate that the proposed actuator can generate sufficient stimuli even if adhered to the chest, which has fewer tactile receptors than either the fingertip or wrist.

A Compact Bulk Acousto-Optic Time Integrating Correlator.

DTIC Science & Technology

1984-11-01

AD-A156 668 A COMPACT BULK ACOUSTO - OPTIC TIME INTEGRATING 1/1 CORRELATOR(U) ELECTRONICS RESEARCH LAB ADELAIDE (AUSTRALIA) D A FOGG NOV 84 ERL-9323-TR...DEFENCE RESEARCH CENTRE SALISBURY SOUTH AUSTRALIA TECHNICAL REPORT ER L-0323-TR A COMPACT BULK ACOUSTO - OPTIC TIME INTEGRATING CORRELATOR D.A.B. FOGG...LABORATORY TECHNICAL REPORT ERL-0323-TR A COMPACT BULK ACOUSTO - OPTIC TIME INTEGRATING CORRELATOR D.A.B. Fogg SUMMARY This report describes the design and

Discrete Address Beacon System (DABS) Software System Reliability Modeling and Prediction.

DTIC Science & Technology

1981-06-01

Service ( ATARS ) module because of its interim status. Reliability prediction models for software modules were derived and then verified by matching...System (A’iCR3BS) and thus can be introduced gradually and economically without ma jor olper- ational or procedural change. Since DABS uses monopulse...lineanaly- sis tools or are ured during maintenance or pre-initialization were not modeled because they are not part of the mission software. The ATARS

Decreased viscosity of rat-liver DNA treated by 3'-methyl-4-dimethylaminoazobenzene, detected with a new viscometric approach.

PubMed

Parodi, S; Balbi, C; Taningher, M; Pala, M; Russo, P; Abelmoschi, M L; Santi, L

1982-11-01

DNA damage induced in vivo by 3'-methyl-4-dimethylaminoazobenzene (3'CH3DAB) was investigated with 2 differently sensitive techniques: the alkaline elution assay and the viscometric measurement of DNA damage. 3'CH3DAB appeared to be falsely negative with the alkaline elution assay, whereas with the viscometric approach, which is about 30-50 times more sensitive, it appeared positive, and the DNA damage was dose-dependent.

Distribution of brominated flame retardants and dechloranes between sediments and benthic fish--A comparison of a freshwater and marine habitat.

PubMed

Sühring, Roxana; Busch, Friederike; Fricke, Nicolai; Kötke, Danijela; Wolschke, Hendrik; Ebinghaus, Ralf

2016-01-15

A total of 53 halogenated flame retardants (HFRs) were analysed in sediments, European eels and dabs from both freshwater and marine sampling stations in the German Bight and the river Elbe. Classic HFRs, such as polybrominated diphenylethers (PBDEs), were the highest concentrated HFRs in eels as well as in most dabs (apart from 1,2,5,6-tetrabromocyclooctane (TBCO)). In sediments, on the other hand, alternate BFRs and especially dechloranes dominated the contamination pattern. Dabs were still found to be statistically representative for the contamination patterns and relative magnitude in sediments from their respective habitats. Contamination patterns in eels seemed to be more driven by the contamination situation in the food chain or historical contamination of their habitat. Unsuspectedly the alternate flame retardant TBCO was found in comparably high concentrations (up to 12 ng g(-1) ww) in dabs from two sampling stations as well as in sediments from these stations (up to 1.2 ng g(-1) dw). It could not be detected in any other analysed fish or sediment samples, indicating a localised contamination source in the area. This study provides information on HFR contamination patterns and behaviour in both marine and freshwater sediments and their potential role as contamination source for benthic fish. Copyright © 2015 Elsevier B.V. All rights reserved.

PEGylation of polypropylenimine dendrimers: effects on cytotoxicity, DNA condensation, gene delivery and expression in cancer cells.

PubMed

Somani, Sukrut; Laskar, Partha; Altwaijry, Najla; Kewcharoenvong, Paphitchaya; Irving, Craig; Robb, Gillian; Pickard, Benjamin S; Dufès, Christine

2018-06-20

Diaminobutyric polypropylenimine (DAB) dendrimers have been shown to be highly efficient non-viral gene delivery systems for cancer therapy. However, their cytotoxicity currently limits their applications. To overcome this issue, PEGylation of DAB dendrimer, using various PEG molecular weights and dendrimer generations, has been attempted to decrease the cytotoxicity and enhance the DNA condensation, size and zeta potential, cellular uptake and transfection efficacy of these dendriplexes. Among all the PEGylated dendrimers synthesized, generation 3- and generation 4-DAB conjugated to low molecular weight PEG (2 kDa) at a dendrimer: DNA ratio of 20:1 and 10:1 resulted in an increase in gene expression on almost all tested cancer cells lines (by up to 3.2-fold compared to unmodified dendrimer in A431 cells). The highest level of β-galactosidase gene expression (10.07 × 10 -3  ± 0.09 × 10 -3  U/mL) was obtained following treatment of B16F10-Luc cells with G4-dendrimer PEGylated with PEG2K at a dendrimer: DNA ratio of 20:1. These delivery systems significantly decreased cytotoxicity on B16F10-Luc cells, by more than 3.4-fold compared to unmodified dendrimer. PEGylated generations 3- and 4-DAB dendrimers are therefore promising gene delivery systems for cancer therapy, combining low cytotoxicity and high transfection efficacy.

Single ocular injection of a sustained-release anti-VEGF delivers 6 months pharmacokinetics and efficacy in a primate laser CNV model

PubMed Central

Adamson, Peter; Wilde, Thomas; Dobrzynski, Eric; Sychterz, Caroline; Polsky, Rodd; Kurali, Edit; Haworth, Richard; Tang, Chi-Man; Korczynska, Justyna; Cook, Fiona; Papanicolaou, Irene; Tsikna, Lemy; Roberts, Chris; Hughes-Thomas, Zoe; Walford, James; Gibson, Daniel; Warrack, John; Smal, Jos; Verrijk, Ruud; Miller, Paul E.; Nork, T. Michael; Prusakiewicz, Jeffery; Streit, Timothy; Sorden, Steven; Struble, Craig; Christian, Brian; Catchpole, Ian R.

2017-01-01

A potent anti-vascular endothelial growth factor (VEGF) biologic and a compatible delivery system were co-evaluated for protection against wet age-related macular degeneration (AMD) over a 6month period following a single intravitreal (IVT) injection. The anti-VEGF molecule is dimeric, containing two different anti-VEGF domain antibodies (dAb) attached to a human IgG1 Fc region: a dual dAb. The delivery system is based on microparticles of PolyActive™ hydrogel co-polymer. The molecule was evaluated both in vitro for potency against VEGF and in ocular VEGF-driven efficacy modelsin vivo. The dual dAb is highly potent, showing a lower IC50 than aflibercept in VEGF receptor binding assays (RBAs) and retaining activity upon release from microparticles over 12 months in vitro. Microparticles released functional dual dAb in rabbit and primate eyes over 6 months at sufficient levels to protect Cynomolgus against laser-induced grade IV choroidal neovascularisation (CNV). This demonstrates proof of concept for delivery of an anti-VEGF molecule within a sustained-release system, showing protection in a pre-clinical primate model of wet AMD over 6 months. Polymer breakdown and movement of microparticles in the eye may limit development of particle-based approaches for sustained release after IVT injection. PMID:27810558

Suppression of BRCA2 by Mutant Mitochondrial DNA in Prostate Cancer

DTIC Science & Technology

2014-07-01

growth of prostatic epithelia both in vitro and in vivo To evaluate the impact of interaction between DAB2IP and Skp2 on cell growth , MTT assay and soft...determined using western blot and actin was used as a loading control. One thousand cells /well were seeded using 96-well plate. In vitro cell growth ...SEM. (E) 1 × 103 cells of C4-2 shSkp2 cells and its control were seeded at 96-well plate. In vitro cell growth was determined using

Haptic Feedback Manipulation During Botulinum Toxin Injection Therapy for Focal Hand Dystonia Patients: A Possible New Assistive Strategy.

PubMed

Atashzar, Seyed Farokh; Shahbazi, Mahya; Ward, Christopher; Samotus, Olivia; Delrobaei, Mehdi; Rahimi, Fariborz; Lee, Jack; Jackman, Mallory; Jog, Mandar S; Patel, Rajni V

2016-01-01

Abnormality of sensorimotor integration in the basal ganglia and cortex has been reported in the literature for patients with task-specific focal hand dystonia (FHD). In this study, we investigate the effect of manipulation of kinesthetic input in people living with writer's cramp disorder (a major form of FHD). For this purpose, severity of dystonia is studied for 11 participants while the symptoms of seven participants have been tracked during five sessions of assessment and Botulinum toxin injection (BoNT-A) therapy (one of the current suggested therapies for dystonia). BoNT-A therapy is delivered in the first and the third session. The goal is to analyze the effect of haptic manipulation as a potential assistive technique during BoNT-A therapy. The trial includes writing, hovering, and spiral/sinusoidal drawing subtasks. In each session, the subtasks are repeated twice when (a) a participant uses a normal pen, and (b) when the participant uses a robotics-assisted system (supporting the pen) which provides a compliant virtual writing surface and manipulates the kinesthetic sensory input. The results show (p-value using one-sample t-tests) that reducing the writing surface rigidity significantly decreases the severity of dystonia and results in better control of grip pressure (an indicator of dystonic cramping). It is also shown that (p-value based on paired-samples t-test) using the proposed haptic manipulation strategy, it is possible to augment the effectiveness of BoNT-A therapy. The outcome of this study is then used in the design of an actuated pen as a writing-assistance tool that can provide compliant haptic interaction during writing for FHD patients.

A Virtual Reality System for PTCD Simulation Using Direct Visuo-Haptic Rendering of Partially Segmented Image Data.

PubMed

Fortmeier, Dirk; Mastmeyer, Andre; Schröder, Julian; Handels, Heinz

2016-01-01

This study presents a new visuo-haptic virtual reality (VR) training and planning system for percutaneous transhepatic cholangio-drainage (PTCD) based on partially segmented virtual patient models. We only use partially segmented image data instead of a full segmentation and circumvent the necessity of surface or volume mesh models. Haptic interaction with the virtual patient during virtual palpation, ultrasound probing and needle insertion is provided. Furthermore, the VR simulator includes X-ray and ultrasound simulation for image-guided training. The visualization techniques are GPU-accelerated by implementation in Cuda and include real-time volume deformations computed on the grid of the image data. Computation on the image grid enables straightforward integration of the deformed image data into the visualization components. To provide shorter rendering times, the performance of the volume deformation algorithm is improved by a multigrid approach. To evaluate the VR training system, a user evaluation has been performed and deformation algorithms are analyzed in terms of convergence speed with respect to a fully converged solution. The user evaluation shows positive results with increased user confidence after a training session. It is shown that using partially segmented patient data and direct volume rendering is suitable for the simulation of needle insertion procedures such as PTCD.

Functional Contour-following via Haptic Perception and Reinforcement Learning.

PubMed

Hellman, Randall B; Tekin, Cem; van der Schaar, Mihaela; Santos, Veronica J

2018-01-01

Many tasks involve the fine manipulation of objects despite limited visual feedback. In such scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We present an approach for real-time haptic perception and decision-making for a haptics-driven, functional contour-following task: the closure of a ziplock bag. This task is challenging for robots because the bag is deformable, transparent, and visually occluded by artificial fingertip sensors that are also compliant. A deep neural net classifier was trained to estimate the state of a zipper within a robot's pinch grasp. A Contextual Multi-Armed Bandit (C-MAB) reinforcement learning algorithm was implemented to maximize cumulative rewards by balancing exploration versus exploitation of the state-action space. The C-MAB learner outperformed a benchmark Q-learner by more efficiently exploring the state-action space while learning a hard-to-code task. The learned C-MAB policy was tested with novel ziplock bag scenarios and contours (wire, rope). Importantly, this work contributes to the development of reinforcement learning approaches that account for limited resources such as hardware life and researcher time. As robots are used to perform complex, physically interactive tasks in unstructured or unmodeled environments, it becomes important to develop methods that enable efficient and effective learning with physical testbeds.

Development of a Haptic Interface for Natural Orifice Translumenal Endoscopic Surgery Simulation

PubMed Central

Dargar, Saurabh; Sankaranarayanan, Ganesh

2016-01-01

Natural orifice translumenal endoscopic surgery (NOTES) is a minimally invasive procedure, which utilizes the body’s natural orifices to gain access to the peritoneal cavity. The NOTES procedure is designed to minimize external scarring and patient trauma, however flexible endoscopy based pure NOTES procedures require critical scope handling skills. The delicate nature of the NOTES procedure requires extensive training, thus to improve access to training while reducing risk to patients we have designed and developed the VTEST©, a virtual reality NOTES simulator. As part of the simulator, a novel decoupled 2-DOF haptic device was developed to provide realistic force feedback to the user in training. A series of experiments were performed to determine the behavioral characteristics of the device. The device was found capable of rendering up to 5.62N and 0.190Nm of continuous force and torque in the translational and rotational DOF, respectively. The device possesses 18.1Hz and 5.7Hz of force bandwidth in the translational and rotational DOF, respectively. A feedforward friction compensator was also successfully implemented to minimize the negative impact of friction during the interaction with the device. In this work we have presented the detailed development and evaluation of the haptic device for the VTEST©. PMID:27008674

Sensing design and workmanship: the haptic skills of shoppers in eighteenth-century London.

PubMed

Smith, Kate

2012-01-01

This article explores how eighteenth-century shoppers understood the material world around them. It argues that retail experiences exposed shoppers to different objects, which subsequently shaped their understanding of this world. This article builds on recent research that highlights the importance of shop environments and browsing in consumer choice. More particularly, it differentiates itself by examining the practice of handling goods in shops and arguing that sensory interaction with multiple goods was one of the key means by which shoppers comprehended concepts of design and workmanship. In doing so, it affirms the importance of sensory research to design history. The article focuses on consumer purchases of ceramic objects and examines a variety of sources to demonstrate the role of haptic skills in this act. It shows how different literary sources described browsing for goods in gendered and satirical terms and then contrasts these readings against visual evidence to illustrate how handling goods was also represented as a positive act. It reads browsing as a valued practice requiring competence, patience and haptic skills. Through an examination of diary sources, letters and objects this article asks what information shoppers gained from touching various objects. It concludes by demonstrating how repetitive handling in search of quality meant that shoppers acquired their own conception of what constituted workmanship and design.

Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration.

PubMed

Ponce Wong, Ruben D; Hellman, Randall B; Santos, Veronica J

2014-01-01

Upper-limb amputees rely primarily on visual feedback when using their prostheses to interact with others or objects in their environment. A constant reliance upon visual feedback can be mentally exhausting and does not suffice for many activities when line-of-sight is unavailable. Upper-limb amputees could greatly benefit from the ability to perceive edges, one of the most salient features of 3D shape, through touch alone. We present an approach for estimating edge orientation with respect to an artificial fingertip through haptic exploration using a multimodal tactile sensor on a robot hand. Key parameters from the tactile signals for each of four exploratory procedures were used as inputs to a support vector regression model. Edge orientation angles ranging from -90 to 90 degrees were estimated with an 85-input model having an R (2) of 0.99 and RMS error of 5.08 degrees. Electrode impedance signals provided the most useful inputs by encoding spatially asymmetric skin deformation across the entire fingertip. Interestingly, sensor regions that were not in direct contact with the stimulus provided particularly useful information. Methods described here could pave the way for semi-autonomous capabilities in prosthetic or robotic hands during haptic exploration, especially when visual feedback is unavailable.

Haptic interface of the KAIST-Ewha colonoscopy simulator II.

PubMed

Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young

2008-11-01

This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors and triggers computations to render accurate graphic images corresponding to the rotation of the angle knob. Tack sensors are attached to the valve-actuation buttons of the colonoscope to simulate air injection or suction as well as the corresponding deformation of the colon. A survey study for face validation was conducted, and the result shows that the developed haptic interface provides realistic haptic feedback for colonoscopy simulations.

A Haptics Symposium Retrospective: 20 Years

NASA Technical Reports Server (NTRS)

Colgate, J. Edward; Adelstein, Bernard

2012-01-01

The very first "Haptics Symposium" actually went by the name "Issues in the Development of Kinesthetic Displays of Teleoperation and Virtual environments." The word "Haptic" didn't make it into the name until the next year. Not only was the most important word absent but so were RFPs, journals and commercial markets. And yet, as we prepare for the 2012 symposium, haptics is a thriving and amazingly diverse field of endeavor. In this talk we'll reflect on the origins of this field and on its evolution over the past twenty years, as well as the evolution of the Haptics Symposium itself. We hope to share with you some of the excitement we've felt along the way, and that we continue to feel as we look toward the future of our field.

A biplanar fluoroscopic approach for the measurement, modeling, and simulation of needle and soft-tissue interaction.

PubMed

Hing, James T; Brooks, Ari D; Desai, Jaydev P

2007-02-01

A methodology for modeling the needle and soft-tissue interaction during needle insertion is presented. The approach consists of the measurement of needle and tissue motion using a dual C-arm fluoroscopy system. Our dual C-arm fluoroscopy setup allows real time 3-D extraction of the displacement of implanted fiducials in the soft tissue during needle insertion to obtain the necessary parameters for accurate modeling of needle and soft-tissue interactions. The needle and implanted markers in the tissue are tracked during the insertion and withdrawal of the needle at speeds of 1.016 mm/s, 12.7 mm/s and 25.4 mm/s. Both image and force data are utilized to determine important parameters such as the approximate cutting force, puncture force, the local effective modulus (LEM) during puncture, and the relaxation of tissue. We have also validated the LEM computed from our finite element model with arbitrary needle puncture tasks. Based on these measurements, we developed a model for needle insertion and withdrawal that can be used to generate a 1-DOF force versus position profile that can be experienced by a user operating a haptic device. This profile was implemented on a 7-DOf haptic device designed in our laboratory.

Sorting of endocytosed transferrin and asialoglycoprotein occurs immediately after internalization in HepG2 cells

PubMed Central

1987-01-01

After receptor-mediated uptake, asialoglycoproteins are routed to lysosomes, while transferrin is returned to the medium as apotransferrin. This sorting process was analyzed using 3,3'- diaminobenzidine (DAB) cytochemistry, followed by Percoll density gradient cell fractionation. A conjugate of asialoorosomucoid (ASOR) and horseradish peroxidase (HRP) was used as a ligand for the asialoglycoprotein receptor. Cells were incubated at 0 degree C in the presence of both 131I-transferrin and 125I-ASOR/HRP. Endocytosis of prebound 125I-ASOR/HRP and 131I-transferrin was monitored by cell fractionation on Percoll density gradients. Incubation of the cell homogenate in the presence of DAB and H2O2 before cell fractionation gave rise to a density shift of 125I-ASOR/HRP-containing vesicles due to HRP-catalyzed DAB polymerization. An identical change in density for 125I-transferrin and 125I-ASOR/HRP, induced by DAB cytochemistry, is taken as evidence for the concomitant presence of both ligands in the same compartment. At 37 degrees C, sorting of the two ligands occurred with a half-time of approximately 2 min, and was nearly completed within 10 min. The 125I-ASOR/HRP-induced shift of 131I-transferrin was completely dependent on the receptor-mediated uptake of 125I-ASOR/HRP in the same compartment. In the presence of a weak base (0.3 mM primaquine), the recycling of transferrin receptors was blocked. The cell surface transferrin receptor population was decreased within 6 min to 15% of its original size. DAB cytochemistry showed that sorting between endocytosed 131I-transferrin and 125I-ASOR/HRP was also blocked in the presence of primaquine. These results indicate that transferrin and asialoglycoprotein are taken up via the same compartments and that segregation of the transferrin-receptor complex and asialoglycoprotein occurs very efficiently soon after uptake. PMID:3032986

Haptic fMRI: using classification to quantify task-correlated noise during goal-directed reaching motions.

PubMed

Menon, Samir; Quigley, Paul; Yu, Michelle; Khatib, Oussama

2014-01-01

Neuroimaging artifacts in haptic functional magnetic resonance imaging (Haptic fMRI) experiments have the potential to induce spurious fMRI activation where there is none, or to make neural activation measurements appear correlated across brain regions when they are actually not. Here, we demonstrate that performing three-dimensional goal-directed reaching motions while operating Haptic fMRI Interface (HFI) does not create confounding motion artifacts. To test for artifacts, we simultaneously scanned a subject's brain with a customized soft phantom placed a few centimeters away from the subject's left motor cortex. The phantom captured task-related motion and haptic noise, but did not contain associated neural activation measurements. We quantified the task-related information present in fMRI measurements taken from the brain and the phantom by using a linear max-margin classifier to predict whether raw time series data could differentiate between motion planning or reaching. fMRI measurements in the phantom were uninformative (2σ, 45-73%; chance=50%), while those in primary motor, visual, and somatosensory cortex accurately classified task-conditions (2σ, 90-96%). We also localized artifacts due to the haptic interface alone by scanning a stand-alone fBIRN phantom, while an operator performed haptic tasks outside the scanner's bore with the interface at the same location. The stand-alone phantom had lower temporal noise and had similar mean classification but a tighter distribution (bootstrap Gaussian fit) than the brain phantom. Our results suggest that any fMRI measurement artifacts for Haptic fMRI reaching experiments are dominated by actual neural responses.

Evaluation of Motor Control Using Haptic Device

NASA Astrophysics Data System (ADS)

Nuruki, Atsuo; Kawabata, Takuro; Shimozono, Tomoyuki; Yamada, Masafumi; Yunokuchi, Kazutomo

When the kinesthesia and the touch act at the same time, such perception is called haptic perception. This sense has the key role in motor information on the force and position control. The haptic perception is important in the field where the evaluation of the motor control is needed. The purpose of this paper is to evaluate the motor control, perception of heaviness and distance in normal and fatigue conditions using psychophysical experiment. We used a haptic device in order to generate precise force and distance, but the precedent of the evaluation system with the haptic device has been few. Therefore, it is another purpose to examine whether the haptic device is useful as evaluation system for the motor control. The psychophysical quantity of force and distance was measured by two kinds of experiments. Eight healthy subjects participated in this study. The stimulation was presented by haptic device [PHANTOM Omni: SensAble Company]. The subjects compared between standard and test stimulation, and answered it had felt which stimulation was strong. In the result of the psychophysical quantity of force, just noticeable difference (JND) had a significant difference, and point of subjective equality (PSE) was not different between normal and muscle fatigue. On the other hand, in the result of the psychophysical quantity of distance, JND and PSE were not difference between normal and muscle fatigue. These results show that control of force was influenced, but control of distance was not influenced in muscle fatigue. Moreover, these results suggested that the haptic device is useful as the evaluation system for the motor control.

Performance evaluation of a robot-assisted catheter operating system with haptic feedback.

PubMed

Song, Yu; Guo, Shuxiang; Yin, Xuanchun; Zhang, Linshuai; Hirata, Hideyuki; Ishihara, Hidenori; Tamiya, Takashi

2018-06-20

In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed as a method to reduce physical stress and X-ray exposure time to physicians during endovascular procedures. The unique design of this system allows the physician to apply conventional bedside catheterization skills (advance, retreat and rotate) to an input catheter, which is placed at the master side to control another patient catheter placed at the slave side. For this purpose, a magnetorheological (MR) fluids-based master haptic interface has been developed to measure the axial and radial motions of an input catheter, as well as to provide the haptic feedback to the physician during the operation. In order to achieve a quick response of the haptic force in the master haptic interface, a hall sensor-based closed-loop control strategy is employed. In slave side, a catheter manipulator is presented to deliver the patient catheter, according to position commands received from the master haptic interface. The contact forces between the patient catheter and blood vessel system can be measured by designed force sensor unit of catheter manipulator. Four levels of haptic force are provided to make the operator aware of the resistance encountered by the patient catheter during the insertion procedure. The catheter manipulator was evaluated for precision positioning. The time lag from the sensed motion to replicated motion is tested. To verify the efficacy of the proposed haptic feedback method, the evaluation experiments in vitro are carried out. The results demonstrate that the proposed system has the ability to enable decreasing the contact forces between the catheter and vasculature.

Learning in a virtual environment using haptic systems for movement re-education: can this medium be used for remodeling other behaviors and actions?

PubMed

Merians, Alma S; Fluet, Gerard G; Qiu, Qinyin; Lafond, Ian; Adamovich, Sergei V

2011-03-01

Robotic systems that are interfaced with virtual reality gaming and task simulations are increasingly being developed to provide repetitive intensive practice to promote increased compliance and facilitate better outcomes in rehabilitation post-stroke. A major development in the use of virtual environments (VEs) has been to incorporate tactile information and interaction forces into what was previously an essentially visual experience. Robots of varying complexity are being interfaced with more traditional virtual presentations to provide haptic feedback that enriches the sensory experience and adds physical task parameters. This provides forces that produce biomechanical and neuromuscular interactions with the VE that approximate real-world movement more accurately than visual-only VEs, simulating the weight and force found in upper extremity tasks. The purpose of this article is to present an overview of several systems that are commercially available for ambulation training and for training movement of the upper extremity. We will also report on the system that we have developed (NJIT-RAVR system) that incorporates motivating and challenging haptic feedback effects into VE simulations to facilitate motor recovery of the upper extremity post-stroke. The NJIT-RAVR system trains both the upper arm and the hand. The robotic arm acts as an interface between the participants and the VEs, enabling multiplanar movements against gravity in a three-dimensional workspace. The ultimate question is whether this medium can provide a motivating, challenging, gaming experience with dramatically decreased physical difficulty levels, which would allow for participation by an obese person and facilitate greater adherence to exercise regimes. © 2011 Diabetes Technology Society.

Haptic Glove Technology: Skill Development through Video Game Play

ERIC Educational Resources Information Center

Bargerhuff, Mary Ellen; Cowan, Heidi; Oliveira, Francisco; Quek, Francis; Fang, Bing

2010-01-01

This article introduces a recently developed haptic glove system and describes how the participants used a video game that was purposely designed to train them in skills that are needed for the efficient use of the haptic glove. Assessed skills included speed, efficiency, embodied skill, and engagement. The findings and implications for future…

The Role of Visual Experience on the Representation and Updating of Novel Haptic Scenes

ERIC Educational Resources Information Center

Pasqualotto, Achille; Newell, Fiona N.

2007-01-01

We investigated the role of visual experience on the spatial representation and updating of haptic scenes by comparing recognition performance across sighted, congenitally and late blind participants. We first established that spatial updating occurs in sighted individuals to haptic scenes of novel objects. All participants were required to…

Effect of Auditory Interference on Memory of Haptic Perceptions.

ERIC Educational Resources Information Center

Anater, Paul F.

1980-01-01

The effect of auditory interference on the processing of haptic information by 61 visually impaired students (8 to 20 years old) was the focus of the research described in this article. It was assumed that as the auditory interference approximated the verbalized activity of the haptic task, accuracy of recall would decline. (Author)

Investigating Students' Ideas about Buoyancy and the Influence of Haptic Feedback

ERIC Educational Resources Information Center

Minogue, James; Borland, David

2016-01-01

While haptics (simulated touch) represents a potential breakthrough technology for science teaching and learning, there is relatively little research into its differential impact in the context of teaching and learning. This paper describes the testing of a haptically enhanced simulation (HES) for learning about buoyancy. Despite a lifetime of…

AIM-120 Advanced Medium Range Air-to-Air Missile (AMRAAM)

DTIC Science & Technology

2013-12-01

lilA (DAB) DAE Program Review Start Production Deliveries Complete DAOT&E (Air Force) Complete IOT &E!Captive Ca ... Initial EQuipage Milestone... IOT &E OCT 1983 N/A N/A OCT 1983 Certification FEB 1986 FEB 1986 AUG 1986 FEB 1986 Milestone IIIA (DAB) JUN 1987 JUN 1987 DEC 1987 JUN 1987 DAE...Program Review MAY 1988 MAY 1988 NOV 1988 MAY 1988 Start Production Deliveries SEP 1988 SEP 1988 MAR 1989 SEP 1988 Complete D/ IOT &E (Air Force) JAN 1989 JAN

Technical Evaluation Report on the Guidance and Control Panel Symposium (29th) on Air Traffic Management Civil/Military Systems and Technologies.

DTIC Science & Technology

1980-03-01

language, reliance upon instrumental (technical) versus biologi - cal ( human ) capabilities, etc. The latter - the appreciative one - is not expressed...infrastructure, and most of human contribution, should be ready for servi- cing the military scene in case of high tension, or in the context of hostility...already proven "feasible changes*. 10 81 In a similar way of improvement ( 751 and [ 771 give additional information about DABS and a DABS/ ATARS

Superior haptic-to-visual shape matching in autism spectrum disorders.

PubMed

Nakano, Tamami; Kato, Nobumasa; Kitazawa, Shigeru

2012-04-01

A weak central coherence theory in autism spectrum disorder (ASD) proposes that a cognitive bias toward local processing in ASD derives from a weakness in integrating local elements into a coherent whole. Using this theory, we hypothesized that shape perception through active touch, which requires sequential integration of sensorimotor traces of exploratory finger movements into a shape representation, would be impaired in ASD. Contrary to our expectation, adults with ASD showed superior performance in a haptic-to-visual delayed shape-matching task compared to adults without ASD. Accuracy in discriminating haptic lengths or haptic orientations, which lies within the somatosensory modality, did not differ between adults with ASD and adults without ASD. Moreover, this superior ability in inter-modal haptic-to-visual shape matching was not explained by the score in a unimodal visuospatial rotation task. These results suggest that individuals with ASD are not impaired in integrating sensorimotor traces into a global visual shape and that their multimodal shape representations and haptic-to-visual information transfer are more accurate than those of individuals without ASD. Copyright © 2012 Elsevier Ltd. All rights reserved.

Haptic Recreation of Elbow Spasticity

PubMed Central

Kim, Jonghyun; Damiano, Diane L.

2013-01-01

The aim of this paper is to develop a haptic device capable of presenting standardized recreation of elbow spasticity. Using the haptic device, clinicians will be able to repeatedly practice the assessment of spasticity without requiring patient involvement, and these practice opportunities will help improve accuracy and reliability of the assessment itself. Haptic elbow spasticity simulator (HESS) was designed and prototyped according to mechanical requirements to recreate the feel of elbow spasticity. Based on the data collected from subjects with elbow spasticity, a mathematical model representing elbow spasticity is proposed. As an attempt to differentiate the feel of each score in Modified Ashworth Scale (MAS), parameters of the model were obtained respectively for three different MAS scores 1, 1+, and 2. The implemented haptic recreation was evaluated by experienced clinicians who were asked to give MAS scores by manipulating the haptic device. The clinicians who participated in the study were blinded to each other’s scores and to the given models. They distinguished the three models and the MAS scores given to the recreated models matched 100% with the original MAS scores from the patients. PMID:22275660

Control of a haptic gear shifting assistance device utilizing a magnetorheological clutch

NASA Astrophysics Data System (ADS)

Han, Young-Min; Choi, Seung-Bok

2014-10-01

This paper proposes a haptic clutch driven gear shifting assistance device that can help when the driver shifts the gear of a transmission system. In order to achieve this goal, a magnetorheological (MR) fluid-based clutch is devised to be capable of the rotary motion of an accelerator pedal to which the MR clutch is integrated. The proposed MR clutch is then manufactured, and its transmission torque is experimentally evaluated according to the magnetic field intensity. The manufactured MR clutch is integrated with the accelerator pedal to transmit a haptic cue signal to the driver. The impending control issue is to cue the driver to shift the gear via the haptic force. Therefore, a gear-shifting decision algorithm is constructed by considering the vehicle engine speed concerned with engine combustion dynamics, vehicle dynamics and driving resistance. Then, the algorithm is integrated with a compensation strategy for attaining the desired haptic force. In this work, the compensator is also developed and implemented through the discrete version of the inverse hysteretic model. The control performances, such as the haptic force tracking responses and fuel consumption, are experimentally evaluated.

Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

NASA Astrophysics Data System (ADS)

Oh, Jong-Seok; Choi, Seung-Bok; Lee, Yang-Sub

2015-02-01

This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for the success of the robot-assisted surgery, it is indispensable to develop a proper torque measurement method of 3-DOF ER haptic master. After describing the structural configuration of the haptic master, the torque models of ER spherical joint are mathematically derived based on the Bingham model of ER fluid. A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism. Subsequently, the field-dependent parameters of the Bingham model are identified and generating repulsive torque according to applied electric field is measured. In addition, in order to verify the effectiveness of the proposed torque model, a comparative work between simulated and measured torques is undertaken.

Haptics in Education: Exploring an Untapped Sensory Modality

ERIC Educational Resources Information Center

Minogue, James; Jones, M. Gail

2006-01-01

As human beings, we can interact with our environment through the sense of touch, which helps us to build an understanding of objects and events. The implications of touch for cognition are recognized by many educators who advocate the use of "hands-on" instruction. But is it possible to know something more completely by touching it? Does touch…

Development of haptic system for surgical robot

NASA Astrophysics Data System (ADS)

Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo

2017-04-01

In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.

The effect of haptic guidance and visual feedback on learning a complex tennis task.

PubMed

Marchal-Crespo, Laura; van Raai, Mark; Rauter, Georg; Wolf, Peter; Riener, Robert

2013-11-01

While haptic guidance can improve ongoing performance of a motor task, several studies have found that it ultimately impairs motor learning. However, some recent studies suggest that the haptic demonstration of optimal timing, rather than movement magnitude, enhances learning in subjects trained with haptic guidance. Timing of an action plays a crucial role in the proper accomplishment of many motor skills, such as hitting a moving object (discrete timing task) or learning a velocity profile (time-critical tracking task). The aim of the present study is to evaluate which feedback conditions-visual or haptic guidance-optimize learning of the discrete and continuous elements of a timing task. The experiment consisted in performing a fast tennis forehand stroke in a virtual environment. A tendon-based parallel robot connected to the end of a racket was used to apply haptic guidance during training. In two different experiments, we evaluated which feedback condition was more adequate for learning: (1) a time-dependent discrete task-learning to start a tennis stroke and (2) a tracking task-learning to follow a velocity profile. The effect that the task difficulty and subject's initial skill level have on the selection of the optimal training condition was further evaluated. Results showed that the training condition that maximizes learning of the discrete time-dependent motor task depends on the subjects' initial skill level. Haptic guidance was especially suitable for less-skilled subjects and in especially difficult discrete tasks, while visual feedback seems to benefit more skilled subjects. Additionally, haptic guidance seemed to promote learning in a time-critical tracking task, while visual feedback tended to deteriorate the performance independently of the task difficulty and subjects' initial skill level. Haptic guidance outperformed visual feedback, although additional studies are needed to further analyze the effect of other types of feedback visualization on motor learning of time-critical tasks.

Haptic Cues for Balance: Use of a Cane Provides Immediate Body Stabilization

PubMed Central

Sozzi, Stefania; Crisafulli, Oscar; Schieppati, Marco

2017-01-01

Haptic cues are important for balance. Knowledge of the temporal features of their effect may be crucial for the design of neural prostheses. Touching a stable surface with a fingertip reduces body sway in standing subjects eyes closed (EC), and removal of haptic cue reinstates a large sway pattern. Changes in sway occur rapidly on changing haptic conditions. Here, we describe the effects and time-course of stabilization produced by a haptic cue derived from a walking cane. We intended to confirm that cane use reduces body sway, to evaluate the effect of vision on stabilization by a cane, and to estimate the delay of the changes in body sway after addition and withdrawal of haptic input. Seventeen healthy young subjects stood in tandem position on a force platform, with eyes closed or open (EO). They gently lowered the cane onto and lifted it from a second force platform. Sixty trials per direction of haptic shift (Touch → NoTouch, T-NT; NoTouch → Touch, NT-T) and visual condition (EC-EO) were acquired. Traces of Center of foot Pressure (CoP) and the force exerted by cane were filtered, rectified, and averaged. The position in space of a reflective marker positioned on the cane tip was also acquired by an optoelectronic device. Cross-correlation (CC) analysis was performed between traces of cane tip and CoP displacement. Latencies of changes in CoP oscillation in the frontal plane EC following the T-NT and NT-T haptic shift were statistically estimated. The CoP oscillations were larger in EC than EO under both T and NT (p < 0.001) and larger during NT than T conditions (p < 0.001). Haptic-induced effect under EC (Romberg quotient NT/T ~ 1.2) was less effective than that of vision under NT condition (EC/EO ~ 1.5) (p < 0.001). With EO cane had little effect. Cane displacement lagged CoP displacement under both EC and EO. Latencies to changes in CoP oscillations were longer after addition (NT-T, about 1.6 s) than withdrawal (T-NT, about 0.9 s) of haptic input (p < 0.001). These latencies were similar to those occurring on fingertip touch, as previously shown. Overall, data speak in favor of substantial equivalence of the haptic information derived from both “direct” fingertip contact and “indirect” contact with the floor mediated by the cane. Cane, finger and visual inputs would be similarly integrated in the same neural centers for balance control. Haptic input from a walking aid and its processing time should be considered when designing prostheses for locomotion. PMID:29311785

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

NASA Astrophysics Data System (ADS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-09-01

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.

Spatio-temporal variation in parasite communities maintains diversity at the major histocompatibility complex class IIβ in the endangered Rio Grande silvery minnow.

PubMed

Osborne, Megan J; Pilger, Tyler J; Lusk, Joel D; Turner, Thomas F

2017-01-01

Climate change will strongly impact aquatic ecosystems particularly in arid and semi-arid regions. Fish-parasite interactions will also be affected by predicted altered flow and temperature regimes, and other environmental stressors. Hence, identifying environmental and genetic factors associated with maintaining diversity at immune genes is critical for understanding species' adaptive capacity. Here, we combine genetic (MHC class IIβ and microsatellites), parasitological and ecological data to explore the relationship between these factors in the remnant wild Rio Grande silvery minnow (Hybognathus amarus) population, an endangered species found in the southwestern United States. Infections with multiple parasites on the gills were observed and there was spatio-temporal variation in parasite communities and patterns of infection among individuals. Despite its highly endangered status and chronically low genetic effective size, Rio Grande silvery minnow had high allelic diversity at MHC class IIβ with more alleles recognized at the presumptive DAB1 locus compared to the DAB3 locus. We identified significant associations between specific parasites and MHC alleles against a backdrop of generalist parasite prevalence. We also found that individuals with higher individual neutral heterozygosity and higher amino acid divergence between MHC alleles had lower parasite abundance and diversity. Taken together, these results suggest a role for fluctuating selection imposed by spatio-temporal variation in pathogen communities and divergent allele advantage in maintenance of high MHC polymorphism. Understanding the complex interaction of habitat, pathogens and immunity in protected species will require integrated experimental, genetic and field studies. © 2016 John Wiley & Sons Ltd.

An Integrated Programmable Wide-range PLL for Switching Synchronization in Isolated DC-DC Converters

NASA Astrophysics Data System (ADS)

Fard, Miad

In this thesis, two Phase-Locked-Loop (PLL) based synchronization schemes are introduced and applied to a bi-directional Dual-Active-Bridge (DAB) dc-dc converter with an input voltage up to 80 V switching in the range of 250 kHz to 1 MHz. The two schemes synchronize gating signals across an isolated boundary without the need for an isolator per transistor. The Power Transformer Sensing (PTS) method utilizes the DAB power transformer to indirectly sense switching on the secondary side of the boundary, while the Digital Isolator Sensing (DIS) method utilizes a miniature transformer for synchronization and communication at up to 100 MHz. The PLL is implemented on-chip, and is used to control an external DAB power-stage. This work will lead to lower cost, high-frequency isolated dc-dc converters needed for a wide variety of emerging low power applications where isolator cost is relatively high and there is a demand for the reduction of parts.

Metabolic solutions to the biosynthesis of some diaminomonocarboxylic acids in nature: Formation in cyanobacteria of the neurotoxins 3-N-methyl-2,3-diaminopropanoic acid (BMAA) and 2,4-diaminobutanoic acid (2,4-DAB).

PubMed

Nunn, Peter B; Codd, Geoffrey A

2017-12-01

The non-encoded diaminomonocarboxylic acids, 3-N-methyl-2,3-diaminopropanoic acid (syn: α-amino-β-methylaminopropionic acid, MeDAP; β-N-methylaminoalanine, BMAA) and 2,4-diaminobutanoic acid (2,4-DAB), are distributed widely in cyanobacterial species in free and bound forms. Both amino acids are neurotoxic in whole animal and cell-based bioassays. The biosynthetic pathway to 2,4-DAB is well documented in bacteria and in one higher plant species, but has not been confirmed in cyanobacteria. The biosynthetic pathway to BMAA is unknown. This review considers possible metabolic routes, by analogy with reactions used in other species, by which these amino acids might be biosynthesised by cyanobacteria, which are a widespread potential environmental source of these neurotoxins. Where possible, the gene expression that might be implicated in these biosyntheses is discussed. Copyright © 2017 Elsevier Ltd. All rights reserved.

Perceptual Grouping in Haptic Search: The Influence of Proximity, Similarity, and Good Continuation

ERIC Educational Resources Information Center

Overvliet, Krista E.; Krampe, Ralf Th.; Wagemans, Johan

2012-01-01

We conducted a haptic search experiment to investigate the influence of the Gestalt principles of proximity, similarity, and good continuation. We expected faster search when the distractors could be grouped. We chose edges at different orientations as stimuli because they are processed similarly in the haptic and visual modality. We therefore…

Immediate Memory for Haptically-Examined Braille Symbols by Blind and Sighted Subjects.

ERIC Educational Resources Information Center

Newman, Slater E.; And Others

The paper reports on two experiments in Braille learning which compared blind and sighted subjects on the immediate recall of haptically-examined Braille symbols. In the first study, sighted subjects (N=64) haptically examined each of a set of Braille symbols with their preferred or nonpreferred hand and immediately recalled the symbol by drawing…

Haptic Cues Used for Outdoor Wayfinding by Individuals with Visual Impairments

ERIC Educational Resources Information Center

Koutsoklenis, Athanasios; Papadopoulos, Konstantinos

2014-01-01

Introduction: The study presented here examines which haptic cues individuals with visual impairments use more frequently and determines which of these cues are deemed by these individuals to be the most important for way-finding in urban environments. It also investigates the ways in which these haptic cues are used by individuals with visual…

Cortical Activation Patterns during Long-Term Memory Retrieval of Visually or Haptically Encoded Objects and Locations

ERIC Educational Resources Information Center

Stock, Oliver; Roder, Brigitte; Burke, Michael; Bien, Siegfried; Rosler, Frank

2009-01-01

The present study used functional magnetic resonance imaging to delineate cortical networks that are activated when objects or spatial locations encoded either visually (visual encoding group, n = 10) or haptically (haptic encoding group, n = 10) had to be retrieved from long-term memory. Participants learned associations between auditorily…

Smart glove: hand master using magnetorheological fluid actuators

NASA Astrophysics Data System (ADS)

Nam, Y. J.; Park, M. K.; Yamane, R.

2007-12-01

In this study, a hand master using five miniature magneto-rheological (MR) actuators, which is called 'the smart glove', is introduced. This hand master is intended to display haptic feedback to the fingertip of the human user interacting with any virtual objects in virtual environment. For the smart glove, two effective approaches are proposed: (i) by using the MR actuator which can be considered as a passive actuator, the smart glove is made simple in structure, high in power, low in inertia, safe in interface and stable in haptic feedback, and (ii) with a novel flexible link mechanism designed for the position-force transmission between the fingertips and the actuators, the number of the actuator and the weight of the smart glove can be reduced. These features lead to the improvement in the manipulability and portability of the smart glove. The feasibility of the constructed smart glove is verified through basic performance evaluation.

Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.

PubMed

Cruces, R A Castillo; Wahrburg, J

2007-12-01

This paper presents the ongoing results of an effort to achieve the integration of a navigated cooperative robotic arm into computer-assisted orthopaedic surgery. A seamless integration requires the system acting in direct cooperation with the surgeon instead of replacing him. Two technical issues are discussed to improve the haptic operating modes for interactive robot guidance. The concept of virtual fixtures is used to restrict the range of motion of the robot according to pre-operatively defined constraints, and methodologies to assure a robust and accurate motion through singular arm configurations are investigated. A new method for handling singularities is proposed, which is superior to the commonly used damped-least-squares method. It produces no deviations of the end-effector in relation to the virtually constrained path. A solution to assure a good performance of a hands-on robotic arm at singularity configurations is proposed. (c) 2007 John Wiley & Sons, Ltd.

Haptic perception and body representation in lateral and medial occipito-temporal cortices.

PubMed

Costantini, Marcello; Urgesi, Cosimo; Galati, Gaspare; Romani, Gian Luca; Aglioti, Salvatore M

2011-04-01

Although vision is the primary sensory modality that humans and other primates use to identify objects in the environment, we can recognize crucial object features (e.g., shape, size) using the somatic modality. Previous studies have shown that the occipito-temporal areas dedicated to the visual processing of object forms, faces and bodies also show category-selective responses when the preferred stimuli are haptically explored out of view. Visual processing of human bodies engages specific areas in lateral (extrastriate body area, EBA) and medial (fusiform body area, FBA) occipito-temporal cortex. This study aimed at exploring the relative involvement of EBA and FBA in the haptic exploration of body parts. During fMRI scanning, participants were asked to haptically explore either real-size fake body parts or objects. We found a selective activation of right and left EBA, but not of right FBA, while participants haptically explored body parts as compared to real objects. This suggests that EBA may integrate visual body representations with somatosensory information regarding body parts and form a multimodal representation of the body. Furthermore, both left and right EBA showed a comparable level of body selectivity during haptic perception and visual imagery. However, right but not left EBA was more activated during haptic exploration than visual imagery of body parts, ruling out that the response to haptic body exploration was entirely due to the use of visual imagery. Overall, the results point to the existence of different multimodal body representations in the occipito-temporal cortex which are activated during perception and imagery of human body parts. Copyright © 2011 Elsevier Ltd. All rights reserved.

Haptic biofeedback for improving compliance with lower-extremity partial weight bearing.

PubMed

Fu, Michael C; DeLuke, Levi; Buerba, Rafael A; Fan, Richard E; Zheng, Ying Jean; Leslie, Michael P; Baumgaertner, Michael R; Grauer, Jonathan N

2014-11-01

After lower-extremity orthopedic trauma and surgery, patients are often advised to restrict weight bearing on the affected limb. Conventional training methods are not effective at enabling patients to comply with recommendations for partial weight bearing. The current study assessed a novel method of using real-time haptic (vibratory/vibrotactile) biofeedback to improve compliance with instructions for partial weight bearing. Thirty healthy, asymptomatic participants were randomized into 1 of 3 groups: verbal instruction, bathroom scale training, and haptic biofeedback. Participants were instructed to restrict lower-extremity weight bearing in a walking boot with crutches to 25 lb, with an acceptable range of 15 to 35 lb. A custom weight bearing sensor and biofeedback system was attached to all participants, but only those in the haptic biofeedback group were given a vibrotactile signal if they exceeded the acceptable range. Weight bearing in all groups was measured with a separate validated commercial system. The verbal instruction group bore an average of 60.3±30.5 lb (mean±standard deviation). The bathroom scale group averaged 43.8±17.2 lb, whereas the haptic biofeedback group averaged 22.4±9.1 lb (P<.05). As a percentage of body weight, the verbal instruction group averaged 40.2±19.3%, the bathroom scale group averaged 32.5±16.9%, and the haptic biofeedback group averaged 14.5±6.3% (P<.05). In this initial evaluation of the use of haptic biofeedback to improve compliance with lower-extremity partial weight bearing, haptic biofeedback was superior to conventional physical therapy methods. Further studies in patients with clinical orthopedic trauma are warranted. Copyright 2014, SLACK Incorporated.

Trap formation and energy transfer in pheophorbide a-DAB-dendrimers and pyropheophorbide a-fullerene C 60 hexaadduct molecular systems

NASA Astrophysics Data System (ADS)

Röder, Beate; Ermilov, Eugeny A.; Hackbarth, Steffen; Helmreich, Matthias; Jux, Norbert

2006-04-01

The photophysical properties of DAB-dendrimers from 1 st to 4 th generation as well as Diaminohexane - all substituted with the in maximum achievable quantity of pheophorbide a (Pheo) molecules were studied in comparison with a novel hexapyropheophorbide a - fullerene hexaadduct (FHP6) and a fullerene [6:0]-hexaadduct which carries twelve pyropheophorbide a units (FHP12) using both steady-state and time-resolved spectroscopic methods. It was found that neighboring dye molecules covalently linked to one DAB- or fullerene moiety due to the length and high flexibility of carbon chains could stack with each other. This structural property is the reason for the possibility of formation different types of energy traps, which were resolved experimentally. The dipole-dipole resonance Förster energy transfer between the dye molecules coupled to one complex caused a very fast and efficient delivery of the excitation to a trap. As result the fluorescence as well as the singlet oxygen quantum yields of the different complexes were reduced with increasing number of dye molecules per complex. Nevertheless in every case the singlet oxygen generation was less influenced then the fluorescence quantum yield, exposing the complex to a non-negligible amount of excited oxygen in the singlet state. While the fullerene complexes turned out to be stable under these conditions, the DAB-dendrimer-backbones were completely fragmented to small rudiments carrying just one or a small number of dye molecules.

Enhanced operator perception through 3D vision and haptic feedback

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Light, Kenneth; Bodenhamer, Andrew; Bosscher, Paul; Wilkinson, Loren

2012-06-01

Polaris Sensor Technologies (PST) has developed a stereo vision upgrade kit for TALON® robot systems comprised of a replacement gripper camera and a replacement mast zoom camera on the robot, and a replacement display in the Operator Control Unit (OCU). Harris Corporation has developed a haptic manipulation upgrade for TALON® robot systems comprised of a replacement arm and gripper and an OCU that provides haptic (force) feedback. PST and Harris have recently collaborated to integrate the 3D vision system with the haptic manipulation system. In multiple studies done at Fort Leonard Wood, Missouri it has been shown that 3D vision and haptics provide more intuitive perception of complicated scenery and improved robot arm control, allowing for improved mission performance and the potential for reduced time on target. This paper discusses the potential benefits of these enhancements to robotic systems used for the domestic homeland security mission.

[Haptic tracking control for minimally invasive robotic surgery].

PubMed

Xu, Zhaohong; Song, Chengli; Wu, Wenwu

2012-06-01

Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

Totally opportunistic routing algorithm (TORA) for underwater wireless sensor network

PubMed Central

Hashim, Fazirulhisyam; Rasid, Mohd Fadlee A.; Othman, Mohamed

2018-01-01

Underwater Wireless Sensor Network (UWSN) has emerged as promising networking techniques to monitor and explore oceans. Research on acoustic communication has been conducted for decades, but had focused mostly on issues related to physical layer such as high latency, low bandwidth, and high bit error. However, data gathering process is still severely limited in UWSN due to channel impairment. One way to improve data collection in UWSN is the design of routing protocol. Opportunistic Routing (OR) is an emerging technique that has the ability to improve the performance of wireless network, notably acoustic network. In this paper, we propose an anycast, geographical and totally opportunistic routing algorithm for UWSN, called TORA. Our proposed scheme is designed to avoid horizontal transmission, reduce end to end delay, overcome the problem of void nodes and maximize throughput and energy efficiency. We use TOA (Time of Arrival) and range based equation to localize nodes recursively within a network. Once nodes are localized, their location coordinates and residual energy are used as a matrix to select the best available forwarder. All data packets may or may not be acknowledged based on the status of sender and receiver. Thus, the number of acknowledgments for a particular data packet may vary from zero to 2-hop. Extensive simulations were performed to evaluate the performance of the proposed scheme for high network traffic load under very sparse and very dense network scenarios. Simulation results show that TORA significantly improves the network performance when compared to some relevant existing routing protocols, such as VBF, HHVBF, VAPR, and H2DAB, for energy consumption, packet delivery ratio, average end-to-end delay, average hop-count and propagation deviation factor. TORA reduces energy consumption by an average of 35% of VBF, 40% of HH-VBF, 15% of VAPR, and 29% of H2DAB, whereas the packet delivery ratio has been improved by an average of 43% of VBF, 26% of HH-VBF, 15% of VAPR, and 25% of H2DAB. Moreover, the average end-to-end delay has been reduced by 70% of VBF, 69% of HH-VBF, 46% of VAPR, and 73% of H2DAB. Furthermore, average hope-count has been improved by 57%, 53%, 16% and 31% as compared to VBF, HHVBF, VAPR, and H2DAB, respectively. Also, propagation delay has been reduced by 34%, 30%, 15% and 23% as compared to VBF, HHVBF, VAPR, and H2DAB, respectively. PMID:29874237

Totally opportunistic routing algorithm (TORA) for underwater wireless sensor network.

PubMed

Rahman, Ziaur; Hashim, Fazirulhisyam; Rasid, Mohd Fadlee A; Othman, Mohamed

2018-01-01

Underwater Wireless Sensor Network (UWSN) has emerged as promising networking techniques to monitor and explore oceans. Research on acoustic communication has been conducted for decades, but had focused mostly on issues related to physical layer such as high latency, low bandwidth, and high bit error. However, data gathering process is still severely limited in UWSN due to channel impairment. One way to improve data collection in UWSN is the design of routing protocol. Opportunistic Routing (OR) is an emerging technique that has the ability to improve the performance of wireless network, notably acoustic network. In this paper, we propose an anycast, geographical and totally opportunistic routing algorithm for UWSN, called TORA. Our proposed scheme is designed to avoid horizontal transmission, reduce end to end delay, overcome the problem of void nodes and maximize throughput and energy efficiency. We use TOA (Time of Arrival) and range based equation to localize nodes recursively within a network. Once nodes are localized, their location coordinates and residual energy are used as a matrix to select the best available forwarder. All data packets may or may not be acknowledged based on the status of sender and receiver. Thus, the number of acknowledgments for a particular data packet may vary from zero to 2-hop. Extensive simulations were performed to evaluate the performance of the proposed scheme for high network traffic load under very sparse and very dense network scenarios. Simulation results show that TORA significantly improves the network performance when compared to some relevant existing routing protocols, such as VBF, HHVBF, VAPR, and H2DAB, for energy consumption, packet delivery ratio, average end-to-end delay, average hop-count and propagation deviation factor. TORA reduces energy consumption by an average of 35% of VBF, 40% of HH-VBF, 15% of VAPR, and 29% of H2DAB, whereas the packet delivery ratio has been improved by an average of 43% of VBF, 26% of HH-VBF, 15% of VAPR, and 25% of H2DAB. Moreover, the average end-to-end delay has been reduced by 70% of VBF, 69% of HH-VBF, 46% of VAPR, and 73% of H2DAB. Furthermore, average hope-count has been improved by 57%, 53%, 16% and 31% as compared to VBF, HHVBF, VAPR, and H2DAB, respectively. Also, propagation delay has been reduced by 34%, 30%, 15% and 23% as compared to VBF, HHVBF, VAPR, and H2DAB, respectively.

Pseudohaptic interaction with knot diagrams

NASA Astrophysics Data System (ADS)

Weng, Jianguang; Zhang, Hui

2012-07-01

To make progress in understanding knot theory, we need to interact with the projected representations of mathematical knots, which are continuous in three dimensions (3-D) but significantly interrupted in the projective images. One way to achieve such a goal is to design an interactive system that allows us to sketch two-dimensional (2-D) knot diagrams by taking advantage of a collision-sensing controller and explore their underlying smooth structures through a continuous motion. Recent advances of interaction techniques have been made that allow progress in this direction. Pseudohaptics that simulate haptic effects using pure visual feedback can be used to develop such an interactive system. We outline one such pseudohaptic knot diagram interface. Our interface derives from the familiar pencil-and-paper process of drawing 2-D knot diagrams and provides haptic-like sensations to facilitate the creation and exploration of knot diagrams. A centerpiece of the interaction model simulates a physically reactive mouse cursor, which is exploited to resolve the apparent conflict between the continuous structure of the actual smooth knot and the visual discontinuities in the knot diagram representation. Another value in exploiting pseudohaptics is that an acceleration (or deceleration) of the mouse cursor (or surface locator) can be used to indicate the slope of the curve (or surface) of which the projective image is being explored. By exploiting these additional visual cues, we proceed to a full-featured extension to a pseudohaptic four-dimensional (4-D) visualization system that simulates the continuous navigation on 4-D objects and allows us to sense the bumps and holes in the fourth dimension. Preliminary tests of the software show that main features of the interface overcome some expected perceptual limitations in our interaction with 2-D knot diagrams of 3-D knots and 3-D projective images of 4-D mathematical objects.

A design of hardware haptic interface for gastrointestinal endoscopy simulation.

PubMed

Gu, Yunjin; Lee, Doo Yong

2011-01-01

Gastrointestinal endoscopy simulations have been developed to train endoscopic procedures which require hundreds of practices to be competent in the skills. Even though realistic haptic feedback is important to provide realistic sensation to the user, most of previous simulations including commercialized simulation have mainly focused on providing realistic visual feedback. In this paper, we propose a novel design of portable haptic interface, which provides 2DOF force feedback, for the gastrointestinal endoscopy simulation. The haptic interface consists of translational and rotational force feedback mechanism which are completely decoupled, and gripping mechanism for controlling connection between the endoscope and the force feedback mechanism.

Haptic Guidance Improves the Visuo-Manual Tracking of Trajectories

PubMed Central

Bluteau, Jérémy; Coquillart, Sabine; Payan, Yohan; Gentaz, Edouard

2008-01-01

Background Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during visuo-motor learning tasks. The effects of two types of haptic guidances-control in position (HGP) or in force (HGF)–on visuo-manual tracking (“following”) of trajectories are still under debate. Methodology/Principals Findings Three training techniques of haptic guidance (HGP, HGF or control condition, NHG, without haptic guidance) were evaluated in two experiments. Movements produced by adults were assessed in terms of shapes (dynamic time warping) and kinematics criteria (number of velocity peaks and mean velocity) before and after the training sessions. Trajectories consisted of two Arabic and two Japanese-inspired letters in Experiment 1 and ellipses in Experiment 2. We observed that the use of HGF globally improves the fluency of the visuo-manual tracking of trajectories while no significant improvement was found for HGP or NHG. Conclusion/Significance These results show that the addition of haptic information, probably encoded in force coordinates, play a crucial role on the visuo-manual tracking of new trajectories. PMID:18335049

The effect of perceptual grouping on haptic numerosity perception.

PubMed

Verlaers, K; Wagemans, J; Overvliet, K E

2015-01-01

We used a haptic enumeration task to investigate whether enumeration can be facilitated by perceptual grouping in the haptic modality. Eight participants were asked to count tangible dots as quickly and accurately as possible, while moving their finger pad over a tactile display. In Experiment 1, we manipulated the number and organization of the dots, while keeping the total exploration area constant. The dots were either evenly distributed on a horizontal line (baseline condition) or organized into groups based on either proximity (dots placed in closer proximity to each other) or configural cues (dots placed in a geometric configuration). In Experiment 2, we varied the distance between the subsets of dots. We hypothesized that when subsets of dots can be grouped together, the enumeration time will be shorter and accuracy will be higher than in the baseline condition. The results of both experiments showed faster enumeration for the configural condition than for the baseline condition, indicating that configural grouping also facilitates haptic enumeration. In Experiment 2, faster enumeration was also observed for the proximity condition than for the baseline condition. Thus, perceptual grouping speeds up haptic enumeration by both configural and proximity cues, suggesting that similar mechanisms underlie perceptual grouping in both visual and haptic enumeration.

Acquisition and Visualization Techniques of Human Motion Using Master-Slave System and Haptograph

NASA Astrophysics Data System (ADS)

Katsura, Seiichiro; Ohishi, Kiyoshi

Artificial acquisition and reproduction of human sensations are basic technologies of communication engineering. For example, auditory information is obtained by a microphone, and a speaker reproduces it by artificial means. Furthermore, a video camera and a television make it possible to transmit visual sensation by broadcasting. On the contrary, since tactile or haptic information is subject to the Newton's “law of action and reaction” in the real world, a device which acquires, transmits, and reproduces the information has not been established. From the point of view, real-world haptics is the key technology for future haptic communication engineering. This paper proposes a novel acquisition method of haptic information named “haptograph”. The haptograph visualizes the haptic information like photograph. Since temporal and spatial analyses are conducted to represent haptic information as the haptograph, it is possible to be recognized and to be evaluated intuitively. In this paper, the proposed haptograph is applied to visualization of human motion. It is possible to represent the motion characteristics, the expert's skill and the personal habit, and so on. In other words, a personal encyclopedia is attained. Once such a personal encyclopedia is stored in ubiquitous environment, the future human support technology will be developed.

Haptic Stylus and Empirical Studies on Braille, Button, and Texture Display

PubMed Central

Kyung, Ki-Uk; Lee, Jun-Young; Park, Junseok

2008-01-01

This paper presents a haptic stylus interface with a built-in compact tactile display module and an impact module as well as empirical studies on Braille, button, and texture display. We describe preliminary evaluations verifying the tactile display's performance indicating that it can satisfactorily represent Braille numbers for both the normal and the blind. In order to prove haptic feedback capability of the stylus, an experiment providing impact feedback mimicking the click of a button has been conducted. Since the developed device is small enough to be attached to a force feedback device, its applicability to combined force and tactile feedback display in a pen-held haptic device is also investigated. The handle of pen-held haptic interface was replaced by the pen-like interface to add tactile feedback capability to the device. Since the system provides combination of force, tactile and impact feedback, three haptic representation methods for texture display have been compared on surface with 3 texture groups which differ in direction, groove width, and shape. In addition, we evaluate its capacity to support touch screen operations by providing tactile sensations when a user rubs against an image displayed on a monitor. PMID:18317520

Haptic stylus and empirical studies on braille, button, and texture display.

PubMed

Kyung, Ki-Uk; Lee, Jun-Young; Park, Junseok

2008-01-01

This paper presents a haptic stylus interface with a built-in compact tactile display module and an impact module as well as empirical studies on Braille, button, and texture display. We describe preliminary evaluations verifying the tactile display's performance indicating that it can satisfactorily represent Braille numbers for both the normal and the blind. In order to prove haptic feedback capability of the stylus, an experiment providing impact feedback mimicking the click of a button has been conducted. Since the developed device is small enough to be attached to a force feedback device, its applicability to combined force and tactile feedback display in a pen-held haptic device is also investigated. The handle of pen-held haptic interface was replaced by the pen-like interface to add tactile feedback capability to the device. Since the system provides combination of force, tactile and impact feedback, three haptic representation methods for texture display have been compared on surface with 3 texture groups which differ in direction, groove width, and shape. In addition, we evaluate its capacity to support touch screen operations by providing tactile sensations when a user rubs against an image displayed on a monitor.

OzBot and haptics: remote surveillance to physical presence

NASA Astrophysics Data System (ADS)

Mullins, James; Fielding, Mick; Nahavandi, Saeid

2009-05-01

This paper reports on robotic and haptic technologies and capabilities developed for the law enforcement and defence community within Australia by the Centre for Intelligent Systems Research (CISR). The OzBot series of small and medium surveillance robots have been designed in Australia and evaluated by law enforcement and defence personnel to determine suitability and ruggedness in a variety of environments. Using custom developed digital electronics and featuring expandable data busses including RS485, I2C, RS232, video and Ethernet, the robots can be directly connected to many off the shelf payloads such as gas sensors, x-ray sources and camera systems including thermal and night vision. Differentiating the OzBot platform from its peers is its ability to be integrated directly with haptic technology or the 'haptic bubble' developed by CISR. Haptic interfaces allow an operator to physically 'feel' remote environments through position-force control and experience realistic force feedback. By adding the capability to remotely grasp an object, feel its weight, texture and other physical properties in real-time from the remote ground control unit, an operator's situational awareness is greatly improved through Haptic augmentation in an environment where remote-system feedback is often limited.

Using Haptic and Auditory Interaction Tools to Engage Students with Visual Impairments in Robot Programming Activities

ERIC Educational Resources Information Center

Howard, A. M.; Park, Chung Hyuk; Remy, S.

2012-01-01

The robotics field represents the integration of multiple facets of computer science and engineering. Robotics-based activities have been shown to encourage K-12 students to consider careers in computing and have even been adopted as part of core computer-science curriculum at a number of universities. Unfortunately, for students with visual…

Virtual Environments for People Who Are Visually Impaired Integrated into an Orientation and Mobility Program

ERIC Educational Resources Information Center

Lahav, Orly; Schloerb, David W.; Srinivasan, Mandayam A.

2015-01-01

Introduction: The BlindAid, a virtual system developed for orientation and mobility (O&M) training of people who are blind or have low vision, allows interaction with different virtual components (structures and objects) via auditory and haptic feedback. This research examined if and how the BlindAid that was integrated within an O&M…

Data-Driven Haptic Modeling and Rendering of Viscoelastic and Frictional Responses of Deformable Objects.

PubMed

Yim, Sunghoon; Jeon, Seokhee; Choi, Seungmoon

2016-01-01

In this paper, we present an extended data-driven haptic rendering method capable of reproducing force responses during pushing and sliding interaction on a large surface area. The main part of the approach is a novel input variable set for the training of an interpolation model, which incorporates the position of a proxy - an imaginary contact point on the undeformed surface. This allows us to estimate friction in both sliding and sticking states in a unified framework. Estimating the proxy position is done in real-time based on simulation using a sliding yield surface - a surface defining a border between the sliding and sticking regions in the external force space. During modeling, the sliding yield surface is first identified via an automated palpation procedure. Then, through manual palpation on a target surface, input data and resultant force data are acquired. The data are used to build a radial basis interpolation model. During rendering, this input-output mapping interpolation model is used to estimate force responses in real-time in accordance with the interaction input. Physical performance evaluation demonstrates that our approach achieves reasonably high estimation accuracy. A user study also shows plausible perceptual realism under diverse and extensive exploration.

Fast Physically Accurate Rendering of Multimodal Signatures of Distributed Fracture in Heterogeneous Materials.

PubMed

Visell, Yon

2015-04-01

This paper proposes a fast, physically accurate method for synthesizing multimodal, acoustic and haptic, signatures of distributed fracture in quasi-brittle heterogeneous materials, such as wood, granular media, or other fiber composites. Fracture processes in these materials are challenging to simulate with existing methods, due to the prevalence of large numbers of disordered, quasi-random spatial degrees of freedom, representing the complex physical state of a sample over the geometric volume of interest. Here, I develop an algorithm for simulating such processes, building on a class of statistical lattice models of fracture that have been widely investigated in the physics literature. This algorithm is enabled through a recently published mathematical construction based on the inverse transform method of random number sampling. It yields a purely time domain stochastic jump process representing stress fluctuations in the medium. The latter can be readily extended by a mean field approximation that captures the averaged constitutive (stress-strain) behavior of the material. Numerical simulations and interactive examples demonstrate the ability of these algorithms to generate physically plausible acoustic and haptic signatures of fracture in complex, natural materials interactively at audio sampling rates.

Sharing control with haptics: seamless driver support from manual to automatic control.

PubMed

Mulder, Mark; Abbink, David A; Boer, Erwin R

2012-10-01

Haptic shared control was investigated as a human-machine interface that can intuitively share control between drivers and an automatic controller for curve negotiation. As long as automation systems are not fully reliable, a role remains for the driver to be vigilant to the system and the environment to catch any automation errors. The conventional binary switches between supervisory and manual control has many known issues, and haptic shared control is a promising alternative. A total of 42 respondents of varying age and driving experience participated in a driving experiment in a fixed-base simulator, in which curve negotiation behavior during shared control was compared to during manual control, as well as to three haptic tunings of an automatic controller without driver intervention. Under the experimental conditions studied, the main beneficial effect of haptic shared control compared to manual control was that less control activity (16% in steering wheel reversal rate, 15% in standard deviation of steering wheel angle) was needed for realizing an improved safety performance (e.g., 11% in peak lateral error). Full automation removed the need for any human control activity and improved safety performance (e.g., 35% in peak lateral error) but put the human in a supervisory position. Haptic shared control kept the driver in the loop, with enhanced performance at reduced control activity, mitigating the known issues that plague full automation. Haptic support for vehicular control ultimately seeks to intuitively combine human intelligence and creativity with the benefits of automation systems.

Early visual experience and the recognition of basic facial expressions: involvement of the middle temporal and inferior frontal gyri during haptic identification by the early blind

PubMed Central

Kitada, Ryo; Okamoto, Yuko; Sasaki, Akihiro T.; Kochiyama, Takanori; Miyahara, Motohide; Lederman, Susan J.; Sadato, Norihiro

2012-01-01

Face perception is critical for social communication. Given its fundamental importance in the course of evolution, the innate neural mechanisms can anticipate the computations necessary for representing faces. However, the effect of visual deprivation on the formation of neural mechanisms that underlie face perception is largely unknown. We previously showed that sighted individuals can recognize basic facial expressions by haptics surprisingly well. Moreover, the inferior frontal gyrus (IFG) and posterior superior temporal sulcus (pSTS) in the sighted subjects are involved in haptic and visual recognition of facial expressions. Here, we conducted both psychophysical and functional magnetic-resonance imaging (fMRI) experiments to determine the nature of the neural representation that subserves the recognition of basic facial expressions in early blind individuals. In a psychophysical experiment, both early blind and sighted subjects haptically identified basic facial expressions at levels well above chance. In the subsequent fMRI experiment, both groups haptically identified facial expressions and shoe types (control). The sighted subjects then completed the same task visually. Within brain regions activated by the visual and haptic identification of facial expressions (relative to that of shoes) in the sighted group, corresponding haptic identification in the early blind activated regions in the inferior frontal and middle temporal gyri. These results suggest that the neural system that underlies the recognition of basic facial expressions develops supramodally even in the absence of early visual experience. PMID:23372547

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master

NASA Astrophysics Data System (ADS)

Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok

2017-04-01

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

Haptic exploration of fingertip-sized geometric features using a multimodal tactile sensor

NASA Astrophysics Data System (ADS)

Ponce Wong, Ruben D.; Hellman, Randall B.; Santos, Veronica J.

2014-06-01

Haptic perception remains a grand challenge for artificial hands. Dexterous manipulators could be enhanced by "haptic intelligence" that enables identification of objects and their features via touch alone. Haptic perception of local shape would be useful when vision is obstructed or when proprioceptive feedback is inadequate, as observed in this study. In this work, a robot hand outfitted with a deformable, bladder-type, multimodal tactile sensor was used to replay four human-inspired haptic "exploratory procedures" on fingertip-sized geometric features. The geometric features varied by type (bump, pit), curvature (planar, conical, spherical), and footprint dimension (1.25 - 20 mm). Tactile signals generated by active fingertip motions were used to extract key parameters for use as inputs to supervised learning models. A support vector classifier estimated order of curvature while support vector regression models estimated footprint dimension once curvature had been estimated. A distal-proximal stroke (along the long axis of the finger) enabled estimation of order of curvature with an accuracy of 97%. Best-performing, curvature-specific, support vector regression models yielded R2 values of at least 0.95. While a radial-ulnar stroke (along the short axis of the finger) was most helpful for estimating feature type and size for planar features, a rolling motion was most helpful for conical and spherical features. The ability to haptically perceive local shape could be used to advance robot autonomy and provide haptic feedback to human teleoperators of devices ranging from bomb defusal robots to neuroprostheses.

H-Man: a planar, H-shape cabled differential robotic manipulandum for experiments on human motor control.

PubMed

Campolo, Domenico; Tommasino, Paolo; Gamage, Kumudu; Klein, Julius; Hughes, Charmayne M L; Masia, Lorenzo

2014-09-30

In the last decades more robotic manipulanda have been employed to investigate the effect of haptic environments on motor learning and rehabilitation. However, implementing complex haptic renderings can be challenging from technological and control perspectives. We propose a novel robot (H-Man) characterized by a mechanical design based on cabled differential transmission providing advantages over current robotic technology. The H-Man transmission translates to extremely simplified kinematics and homogenous dynamic properties, offering the possibility to generate haptic channels by passively blocking the mechanics, and eliminating stability concerns. We report results of experiments characterizing the performance of the device (haptic bandwidth, Z-width, and perceived impedance). We also present the results of a study investigating the influence of haptic channel compliance on motor learning in healthy individuals, which highlights the effects of channel compliance in enhancing proprioceptive information. The generation of haptic channels to study motor redundancy is not easy for actual robots because of the needs of powerful actuation and complex real-time control implementation. The mechanical design of H-Man affords the possibility to promptly create haptic channels by mechanical stoppers (on one of the motors) without compromising the superior backdriveability and high isotropic manipulability. This paper presents a novel robotic device for motor control studies and robotic rehabilitation. The hardware was designed with specific emphasis on the mechanics that result in a system that is easy to control, homogeneous, and is intrinsically safe for use. Copyright © 2014 Elsevier B.V. All rights reserved.

Early visual experience and the recognition of basic facial expressions: involvement of the middle temporal and inferior frontal gyri during haptic identification by the early blind.

PubMed

Kitada, Ryo; Okamoto, Yuko; Sasaki, Akihiro T; Kochiyama, Takanori; Miyahara, Motohide; Lederman, Susan J; Sadato, Norihiro

2013-01-01

Face perception is critical for social communication. Given its fundamental importance in the course of evolution, the innate neural mechanisms can anticipate the computations necessary for representing faces. However, the effect of visual deprivation on the formation of neural mechanisms that underlie face perception is largely unknown. We previously showed that sighted individuals can recognize basic facial expressions by haptics surprisingly well. Moreover, the inferior frontal gyrus (IFG) and posterior superior temporal sulcus (pSTS) in the sighted subjects are involved in haptic and visual recognition of facial expressions. Here, we conducted both psychophysical and functional magnetic-resonance imaging (fMRI) experiments to determine the nature of the neural representation that subserves the recognition of basic facial expressions in early blind individuals. In a psychophysical experiment, both early blind and sighted subjects haptically identified basic facial expressions at levels well above chance. In the subsequent fMRI experiment, both groups haptically identified facial expressions and shoe types (control). The sighted subjects then completed the same task visually. Within brain regions activated by the visual and haptic identification of facial expressions (relative to that of shoes) in the sighted group, corresponding haptic identification in the early blind activated regions in the inferior frontal and middle temporal gyri. These results suggest that the neural system that underlies the recognition of basic facial expressions develops supramodally even in the absence of early visual experience.

Proceedings of the Public Workshop on Alternative Separation Concepts: Presentations, Discussions and Recommendations, held at Atlantic City Airport, New Jersey, January 7, 8 and 9, 1981.

DTIC Science & Technology

1981-06-01

going on with the MITRE Corporation taking a look at the methods of providing ATARS ser- vice to aircraft in the traffic pattern. And we’re using some...SRDS ... "DABS, BCAS and ATARS " 31 QUESTIONS AND ANSWERS . ... ........................ 37 SPEAKERS Andres Zellweger, FAA, OSEM ... 񕍜 Replacement...either EFR or normal IFR procedures is provided either by the DABS/ ATARS operating in a traffic separation rather than collision avoidance mode or by

SAbDab: the structural antibody database

PubMed Central

Dunbar, James; Krawczyk, Konrad; Leem, Jinwoo; Baker, Terry; Fuchs, Angelika; Georges, Guy; Shi, Jiye; Deane, Charlotte M.

2014-01-01

Structural antibody database (SAbDab; http://opig.stats.ox.ac.uk/webapps/sabdab) is an online resource containing all the publicly available antibody structures annotated and presented in a consistent fashion. The data are annotated with several properties including experimental information, gene details, correct heavy and light chain pairings, antigen details and, where available, antibody–antigen binding affinity. The user can select structures, according to these attributes as well as structural properties such as complementarity determining region loop conformation and variable domain orientation. Individual structures, datasets and the complete database can be downloaded. PMID:24214988

Displaying Sensed Tactile Cues with a Fingertip Haptic Device.

PubMed

Pacchierotti, Claudio; Prattichizzo, Domenico; Kuchenbecker, Katherine J

2015-01-01

Telerobotic systems enable humans to explore and manipulate remote environments for applications such as surgery and disaster response, but few such systems provide the operator with cutaneous feedback. This article presents a novel approach to remote cutaneous interaction; our method is compatible with any fingertip tactile sensor and any mechanical tactile display device, and it does not require a position/force or skin deformation model. Instead, it directly maps the sensed stimuli to the best possible input commands for the device's motors using a data set recorded with the tactile sensor inside the device. As a proof of concept, we considered a haptic system composed of a BioTac tactile sensor, in charge of measuring contact deformations, and a custom 3-DoF cutaneous device with a flat contact platform, in charge of applying deformations to the user's fingertip. To validate the proposed approach and discover its inherent tradeoffs, we carried out two remote tactile interaction experiments. The first one evaluated the error between the tactile sensations registered by the BioTac in a remote environment and the sensations created by the cutaneous device for six representative tactile interactions and 27 variations of the display algorithm. The normalized average errors in the best condition were 3.0 percent of the BioTac's full 12-bit scale. The second experiment evaluated human subjects' experiences for the same six remote interactions and eight algorithm variations. The average subjective rating for the best algorithm variation was 8.2 out of 10, where 10 is best.

Improving Challenge/Skill Ratio in a Multimodal Interface by Simultaneously Adapting Game Difficulty and Haptic Assistance through Psychophysiological and Performance Feedback

PubMed Central

Rodriguez-Guerrero, Carlos; Knaepen, Kristel; Fraile-Marinero, Juan C.; Perez-Turiel, Javier; Gonzalez-de-Garibay, Valentin; Lefeber, Dirk

2017-01-01

In order to harmonize robotic devices with human beings, the robots should be able to perceive important psychosomatic impact triggered by emotional states such as frustration or boredom. This paper presents a new type of biocooperative control architecture, which acts toward improving the challenge/skill relation perceived by the user when interacting with a robotic multimodal interface in a cooperative scenario. In the first part of the paper, open-loop experiments revealed which physiological signals were optimal for inclusion in the feedback loop. These were heart rate, skin conductance level, and skin conductance response frequency. In the second part of the paper, the proposed controller, consisting of a biocooperative architecture with two degrees of freedom, simultaneously modulating game difficulty and haptic assistance through performance and psychophysiological feedback, is presented. With this setup, the perceived challenge can be modulated by means of the game difficulty and the perceived skill by means of the haptic assistance. A new metric (FlowIndex) is proposed to numerically quantify and visualize the challenge/skill relation. The results are contrasted with comparable previously published work and show that the new method afforded a higher FlowIndex (i.e., a superior challenge/skill relation) and an improved balance between augmented performance and user satisfaction (higher level of valence, i.e., a more enjoyable and satisfactory experience). PMID:28507503

A survey of telerobotic surface finishing

NASA Astrophysics Data System (ADS)

Höglund, Thomas; Alander, Jarmo; Mantere, Timo

2018-05-01

This is a survey of research published on the subjects of telerobotics, haptic feedback, and mixed reality applied to surface finishing. The survey especially focuses on how visuo-haptic feedback can be used to improve a grinding process using a remote manipulator or robot. The benefits of teleoperation and reasons for using haptic feedback are presented. The use of genetic algorithms for optimizing haptic sensing is briefly discussed. Ways of augmenting the operator's vision are described. Visual feedback can be used to find defects and analyze the quality of the surface resulting from the surface finishing process. Visual cues can also be used to aid a human operator in manipulating a robot precisely and avoiding collisions.

Reelin Regulates the Maturation of Dendritic Spines, Synaptogenesis and Glial Ensheathment of Newborn Granule Cells

PubMed Central

Bosch, Carles; Masachs, Nuria; Exposito-Alonso, David; Martínez, Albert; Teixeira, Cátia M.; Fernaud, Isabel; Pujadas, Lluís; Ulloa, Fausto; Comella, Joan X.; DeFelipe, Javier; Merchán-Pérez, Angel; Soriano, Eduardo

2016-01-01

The Reelin pathway is essential for both neural migration and for the development and maturation of synaptic connections. However, its role in adult synaptic formation and remodeling is still being investigated. Here, we investigated the impact of the Reelin/Dab1 pathway on the synaptogenesis of newborn granule cells (GCs) in the young-adult mouse hippocampus. We show that neither Reelin overexpression nor the inactivation of its intracellular adapter, Dab1, substantially alters dendritic spine numbers in these neurons. In contrast, 3D-electron microscopy (focused ion beam milling/scanning electron microscope) revealed that dysregulation of the Reelin/Dab1 pathway leads to both transient and permanent changes in the types and morphology of dendritic spines, mainly altering mushroom, filopodial, and branched GC spines. We also found that the Reelin/Dab1 pathway controls synaptic configuration of presynaptic boutons in the dentate gyrus, with its dysregulation leading to a substantial decrease in multi-synaptic bouton innervation. Lastly, we show that the Reelin/Dab1 pathway controls astroglial ensheathment of synapses. Thus, the Reelin pathway is a key regulator of adult-generated GC integration, by controlling dendritic spine types and shapes, their synaptic innervation patterns, and glial ensheathment. These findings may help to better understanding of hippocampal circuit alterations in neurological disorders in which the Reelin pathway is implicated. Significance Statement The extracellular protein Reelin has an important role in neurological diseases, including epilepsy, Alzheimer's disease and psychiatric diseases, targeting hippocampal circuits. Here we address the role of Reelin in the development of synaptic contacts in adult-generated granule cells (GCs), a neuronal population that is crucial for learning and memory and implicated in neurological and psychiatric diseases. We found that the Reelin pathway controls the shapes, sizes, and types of dendritic spines, the complexity of multisynaptic innervations and the degree of the perisynaptic astroglial ensheathment that controls synaptic homeostasis. These findings show a pivotal role of Reelin in GC synaptogenesis and provide a foundation for structural circuit alterations caused by Reelin deregulation that may occur in neurological and psychiatric disorders. PMID:27624722

Differences between early-blind, late-blind, and blindfolded-sighted people in haptic spatial-configuration learning and resulting memory traces.

PubMed

Postma, Albert; Zuidhoek, Sander; Noordzij, Matthijs L; Kappers, Astrid M L

2007-01-01

The roles of visual and haptic experience in different aspects of haptic processing of objects in peripersonal space are examined. In three trials, early-blind, late-blind, and blindfolded-sighted individuals had to match ten shapes haptically to the cut-outs in a board as fast as possible. Both blind groups were much faster than the sighted in all three trials. All three groups improved considerably from trial to trial. In particular, the sighted group showed a strong improvement from the first to the second trial. While superiority of the blind remained for speeded matching after rotation of the stimulus frame, coordinate positional-memory scores in a non-speeded free-recall trial showed no significant differences between the groups. Moreover, when assessed with a verbal response, categorical spatial-memory appeared strongest in the late-blind group. The role of haptic and visual experience thus appears to depend on the task aspect tested.

A haptic-inspired audio approach for structural health monitoring decision-making

NASA Astrophysics Data System (ADS)

Mao, Zhu; Todd, Michael; Mascareñas, David

2015-03-01

Haptics is the field at the interface of human touch (tactile sensation) and classification, whereby tactile feedback is used to train and inform a decision-making process. In structural health monitoring (SHM) applications, haptic devices have been introduced and applied in a simplified laboratory scale scenario, in which nonlinearity, representing the presence of damage, was encoded into a vibratory manual interface. In this paper, the "spirit" of haptics is adopted, but here ultrasonic guided wave scattering information is transformed into audio (rather than tactile) range signals. After sufficient training, the structural damage condition, including occurrence and location, can be identified through the encoded audio waveforms. Different algorithms are employed in this paper to generate the transformed audio signals and the performance of each encoding algorithms is compared, and also compared with standard machine learning classifiers. In the long run, the haptic decision-making is aiming to detect and classify structural damages in a more rigorous environment, and approaching a baseline-free fashion with embedded temperature compensation.

Real-time dual-band haptic music player for mobile devices.

PubMed

Hwang, Inwook; Lee, Hyeseon; Choi, Seungmoon

2013-01-01

We introduce a novel dual-band haptic music player for real-time simultaneous vibrotactile playback with music in mobile devices. Our haptic music player features a new miniature dual-mode actuator that can produce vibrations consisting of two principal frequencies and a real-time vibration generation algorithm that can extract vibration commands from a music file for dual-band playback (bass and treble). The algorithm uses a "haptic equalizer" and provides plausible sound-to-touch modality conversion based on human perceptual data. In addition, we present a user study carried out to evaluate the subjective performance (precision, harmony, fun, and preference) of the haptic music player, in comparison with the current practice of bass-band-only vibrotactile playback via a single-frequency voice-coil actuator. The evaluation results indicated that the new dual-band playback outperforms the bass-only rendering, also providing several insights for further improvements. The developed system and experimental findings have implications for improving the multimedia experience with mobile devices.

Learning to perceive haptic distance-to-break in the presence of friction.

PubMed

Altenhoff, Bliss M; Pagano, Christopher C; Kil, Irfan; Burg, Timothy C

2017-02-01

Two experiments employed attunement and calibration training to investigate whether observers are able to identify material break points in compliant materials through haptic force application. The task required participants to attune to a recently identified haptic invariant, distance-to-break (DTB), rather than haptic stimulation not related to the invariant, including friction. In the first experiment participants probed simulated force-displacement relationships (materials) under 3 levels of friction with the aim of pushing as far as possible into the materials without breaking them. In a second experiment a different set of participants pulled on the materials. Results revealed that participants are sensitive to DTB for both pushing and pulling, even in the presence of varying levels of friction, and this sensitivity can be improved through training. The results suggest that the simultaneous presence of friction may assist participants in perceiving DTB. Potential applications include the development of haptic training programs for minimally invasive (laparoscopic) surgery to reduce accidental tissue damage. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Mnemonic neuronal activity in somatosensory cortex.

PubMed Central

Zhou, Y D; Fuster, J M

1996-01-01

Single-unit activity was recorded from the hand areas of the somatosensory cortex of monkeys trained to perform a haptic delayed matching to sample task with objects of identical dimensions but different surface features. During the memory retention period of the task (delay), many units showed sustained firing frequency change, either excitation or inhibition. In some cases, firing during that period was significantly higher after one sample object than after another. These observations indicate the participation of somatosensory neurons not only in the perception but in the short-term memory of tactile stimuli. Neurons most directly implicated in tactile memory are (i) those with object-selective delay activity, (ii) those with nondifferential delay activity but without activity related to preparation for movement, and (iii) those with delay activity in the haptic-haptic delayed matching task but no such activity in a control visuo-haptic delayed matching task. The results indicate that cells in early stages of cortical somatosensory processing participate in haptic short-term memory. PMID:8927629

Ergonomic evaluation of 3D plane positioning using a mouse and a haptic device.

PubMed

Paul, Laurent; Cartiaux, Olivier; Docquier, Pierre-Louis; Banse, Xavier

2009-12-01

Preoperative planning and intraoperative assistance are needed to improve accuracy in tumour surgery. To be accepted, these processes must be efficient. An experiment was conducted to compare a mouse and a haptic device, with and without force feedback, to perform plan positioning in a 3D space. Ergonomics and performance factors were investigated during the experiment. Positioning strategies were observed. The task completion time, number of 3D orientations and failure rate were analysed. A questionnaire on ergonomics was filled out by each participant. The haptic device showed a significantly lower failure rate and was quicker and more ergonomic than the mouse. The force feedback was not beneficial to the accomplishment of the task. The haptic device is intuitive, ergonomic and more efficient than the mouse for positioning a 3D plane into a 3D space. Useful observations regarding positioning strategies will improve the integration of haptic devices into medical applications. Copyright (c) 2009 John Wiley & Sons, Ltd.

Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.

PubMed

Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L; Cutkosky, Mark R

2014-09-01

This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).

Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle

PubMed Central

Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L.; Cutkosky, Mark R.

2015-01-01

This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024). PMID:26509101

The role of haptic versus visual volume cues in the size-weight illusion.

PubMed

Ellis, R R; Lederman, S J

1993-03-01

Three experiments establish the size-weight illusion as a primarily haptic phenomenon, despite its having been more traditionally considered an example of vision influencing haptic processing. Experiment 1 documents, across a broad range of stimulus weights and volumes, the existence of a purely haptic size-weight illusion, equal in strength to the traditional illusion. Experiment 2 demonstrates that haptic volume cues are both sufficient and necessary for a full-strength illusion. In contrast, visual volume cues are merely sufficient, and produce a relatively weaker effect. Experiment 3 establishes that congenitally blind subjects experience an effect as powerful as that of blindfolded sighted observers, thus demonstrating that visual imagery is also unnecessary for a robust size-weight illusion. The results are discussed in terms of their implications for both sensory and cognitive theories of the size-weight illusion. Applications of this work to a human factors design and to sensor-based systems for robotic manipulation are also briefly considered.

Visual and visually mediated haptic illusions with Titchener's ⊥.

PubMed

Landwehr, Klaus

2014-05-01

For a replication and expansion of a previous experiment of mine, 14 newly recruited participants provided haptic and verbal estimates of the lengths of the two lines that make up Titchener's ⊥. The stimulus was presented at two different orientations (frontoparallel vs. horizontal) and rotated in steps of 45 deg around 2π. Haptically, the divided line of the ⊥ was generally underestimated, especially at a horizontal orientation. Verbal judgments also differed according to presentation condition and to which line was the target, with the overestimation of the undivided line ranging between 6.2 % and 15.3 %. The results are discussed with reference to the two-visual-systems theory of perception and action, neuroscientific accounts, and also recent historical developments (the use of handheld touchscreens, in particular), because the previously reported "haptic induction effect" (the scaling of haptic responses to the divided line of the ⊥, depending on the length of the undivided one) did not replicate.

Habitat characteristics promoting high density and condition of juvenile flatfish at nursery grounds on the west coast of Ireland

NASA Astrophysics Data System (ADS)

De Raedemaecker, F.; Brophy, D.; O'Connor, I.; Comerford, S.

2012-10-01

Coastal zones are essential nursery habitats for most juvenile flatfish species. Understanding the habitat requirements promoting high abundance and growth of juvenile flatfish is important for evaluating nursery habitat quality. The present study aimed to assess nursery ground quality for the most common flatfish species: dab (Limanda limanda) and plaice (Pleuronectes platessa), in Galway Bay, on the west coast of Ireland. Monthly surveys were carried out in the period after peak settlement over two years. Variability in flatfish density and Fulton's K condition was explained in relation to biotic and abiotic habitat characteristics, differing within and between distinct nursery grounds. Dab were concentrated in deeper waters, were negatively associated with shrimp densities and salinity and their abundance showed a decrease from June to September combined with interannual variation. Plaice densities were highly associated with shallower depths and high polychaete and shrimp densities and were negatively related with increased macroalgal cover and organic content. Most of the variability in Fulton's condition was explained by the same set of variables for both species; year and densities of crab and malacostracans. This analysis revealed important ecological mechanisms allowing the co-existence of two flatfish species in nursery grounds. However, high quality nursery grounds for dab and plaice differed and anthropogenic and climatic impacts on flatfish nurseries are likely to have a different impact on plaice and dab populations. Knowledge gained about the quality of nursery habitat for commercially important fish species provides a basis for mapping essential flatfish habitats to inform management plans for coastal areas.

Command Recognition of Robot with Low Dimension Whole-Body Haptic Sensor

NASA Astrophysics Data System (ADS)

Ito, Tatsuya; Tsuji, Toshiaki

The authors have developed “haptic armor”, a whole-body haptic sensor that has an ability to estimate contact position. Although it is developed for safety assurance of robots in human environment, it can also be used as an interface. This paper proposes a command recognition method based on finger trace information. This paper also discusses some technical issues for improving recognition accuracy of this system.

Persistent Neuronal Firing in Primary Somatosensory Cortex in the Absence of Working Memory of Trial-Specific Features of the Sample Stimuli in a Haptic Working Memory Task

ERIC Educational Resources Information Center

Wang, Liping; Li, Xianchun; Hsiao, Steven S.; Bodner, Mark; Lenz, Fred; Zhou, Yong-Di

2012-01-01

Previous studies suggested that primary somatosensory (SI) neurons in well-trained monkeys participated in the haptic-haptic unimodal delayed matching-to-sample (DMS) task. In this study, 585 SI neurons were recorded in monkeys performing a task that was identical to that in the previous studies but without requiring discrimination and active…

Simulation and training of lumbar punctures using haptic volume rendering and a 6DOF haptic device

NASA Astrophysics Data System (ADS)

Färber, Matthias; Heller, Julika; Handels, Heinz

2007-03-01

The lumbar puncture is performed by inserting a needle into the spinal chord of the patient to inject medicaments or to extract liquor. The training of this procedure is usually done on the patient guided by experienced supervisors. A virtual reality lumbar puncture simulator has been developed in order to minimize the training costs and the patient's risk. We use a haptic device with six degrees of freedom (6DOF) to feedback forces that resist needle insertion and rotation. An improved haptic volume rendering approach is used to calculate the forces. This approach makes use of label data of relevant structures like skin, bone, muscles or fat and original CT data that contributes information about image structures that can not be segmented. A real-time 3D visualization with optional stereo view shows the punctured region. 2D visualizations of orthogonal slices enable a detailed impression of the anatomical context. The input data consisting of CT and label data and surface models of relevant structures is defined in an XML file together with haptic rendering and visualization parameters. In a first evaluation the visible human male data has been used to generate a virtual training body. Several users with different medical experience tested the lumbar puncture trainer. The simulator gives a good haptic and visual impression of the needle insertion and the haptic volume rendering technique enables the feeling of unsegmented structures. Especially, the restriction of transversal needle movement together with rotation constraints enabled by the 6DOF device facilitate a realistic puncture simulation.

NaLi-H1: A universal synthetic library of humanized nanobodies providing highly functional antibodies and intrabodies

PubMed Central

Moutel, Sandrine; Bery, Nicolas; Bernard, Virginie; Keller, Laura; Lemesre, Emilie; de Marco, Ario; Ligat, Laetitia; Rain, Jean-Christophe; Favre, Gilles; Olichon, Aurélien; Perez, Franck

2016-01-01

In vitro selection of antibodies allows to obtain highly functional binders, rapidly and at lower cost. Here, we describe the first fully synthetic phage display library of humanized llama single domain antibody (NaLi-H1: Nanobody Library Humanized 1). Based on a humanized synthetic single domain antibody (hs2dAb) scaffold optimized for intracellular stability, the highly diverse library provides high affinity binders without animal immunization. NaLi-H1 was screened following several selection schemes against various targets (Fluorescent proteins, actin, tubulin, p53, HP1). Conformation antibodies against active RHO GTPase were also obtained. Selected hs2dAb were used in various immunoassays and were often found to be functional intrabodies, enabling tracking or inhibition of endogenous targets. Functionalization of intrabodies allowed specific protein knockdown in living cells. Finally, direct selection against the surface of tumor cells produced hs2dAb directed against tumor-specific antigens further highlighting the potential use of this library for therapeutic applications. DOI: http://dx.doi.org/10.7554/eLife.16228.001 PMID:27434673

Detection of the Cyanotoxins L-BMAA Uptake and Accumulation in Primary Neurons and Astrocytes.

PubMed

Tan, Vanessa X; Mazzocco, Claire; Varney, Bianca; Bodet, Dominique; Guillemin, Tristan A; Bessede, Alban; Guillemin, Gilles J

2018-01-01

We show for the first time that a newly developed polyclonal antibody (pAb) can specifically target the cyanotoxin β-methylamino-L-alanine (BMAA) and can be used to enable direct visualization of BMAA entry and accumulation in primary brain cells. We used this pAb to investigate the effect of acute and chronic accumulation, and toxicity of both BMAA and its natural isomer 2,4-diaminobutyric acid (DAB), separately or in combination, on primary cultures of rat neurons. We further present evidence that co-treatment with BMAA and DAB increased neuronal death, as measured by MAP2 fluorescence level, and appeared to reduce BMAA accumulation. DAB is likely to be acting synergistically with BMAA resulting in higher level of cellular toxicity. We also found that glial cells such as microglia and astrocytes are also able to directly uptake BMAA indicating that additional brain cell types are affected by BMAA-induced toxicity. Therefore, BMAA clearly acts at multiple cellular levels to possibly increase the risk of developing neurodegenerative diseases, including neuro- and gliotoxicity and synergetic exacerbation with other cyanotoxins.

Three Dimensional Projection Environment for Molecular Design and Surgical Simulation

DTIC Science & Technology

2011-08-01

bypasses the cumbersome meshing process . The deformation model is only comprised of mass nodes, which are generated by sampling the object volume before...force should minimize the penetration volume, the haptic feedback force is derived directly. Additionally, a post- processing technique is developed to...render distinct physi-cal tissue properties across different interaction areas. The proposed approach does not require any pre- processing and is

Development of Advanced Active Haptic System for Musculokelelton-Exoskeleton Interactions

DTIC Science & Technology

2005-08-31

magnetoencephalography system (MEG). The Cognoscope device may allow researchers to determine when a specific muscle contraction is about to take...motion before it actually occurs. In order for the limbs to move voluntarily, muscle contraction needs to occur. There are several physiologic changes...to muscle that occur immediately preceding force production. The most common way of measuring the onset of muscle contraction is via

Roughness based perceptual analysis towards digital skin imaging system with haptic feedback.

PubMed

Kim, K

2016-08-01

To examine psoriasis or atopic eczema, analyzing skin roughness by palpation is essential to precisely diagnose skin diseases. However, optical sensor based skin imaging systems do not allow dermatologists to touch skin images. To solve the problem, a new haptic rendering technology that can accurately display skin roughness must be developed. In addition, the rendering algorithm must be able to filter spatial noises created during 2D to 3D image conversion without losing the original roughness on the skin image. In this study, a perceptual way to design a noise filter that will remove spatial noises and in the meantime recover maximized roughness is introduced by understanding human sensitivity on surface roughness. A visuohaptic rendering system that can provide a user with seeing and touching digital skin surface roughness has been developed including a geometric roughness estimation method from a meshed surface. In following, a psychophysical experiment was designed and conducted with 12 human subjects to measure human perception with the developed visual and haptic interfaces to examine surface roughness. From the psychophysical experiment, it was found that touch is more sensitive at lower surface roughness, and vice versa. Human perception with both senses, vision and touch, becomes less sensitive to surface distortions as roughness increases. When interact with both channels, visual and haptic interfaces, the performance to detect abnormalities on roughness is greatly improved by sensory integration with the developed visuohaptic rendering system. The result can be used as a guideline to design a noise filter that can perceptually remove spatial noises while recover maximized roughness values from a digital skin image obtained by optical sensors. In addition, the result also confirms that the developed visuohaptic rendering system can help dermatologists or skin care professionals examine skin conditions by using vision and touch at the same time. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Force modeling for incision surgery into tissue with haptic application

NASA Astrophysics Data System (ADS)

Kim, Pyunghwa; Kim, Soomin; Choi, Seung-Hyun; Oh, Jong-Seok; Choi, Seung-Bok

2015-04-01

This paper presents a novel force modeling for an incision surgery into tissue and its haptic application for a surgeon. During the robot-assisted incision surgery, it is highly urgent to develop the haptic system for realizing sense of touch in the surgical area because surgeons cannot sense sensations. To achieve this goal, the force modeling related to reaction force of biological tissue is proposed in the perspective on energy. The force model describes reaction force focused on the elastic feature of tissue during the incision surgery. Furthermore, the force is realized using calculated information from the model by haptic device using magnetorheological fluid (MRF). The performance of realized force that is controlled by PID controller with open loop control is evaluated.

A Model for Steering with Haptic-Force Guidance

NASA Astrophysics Data System (ADS)

Yang, Xing-Dong; Irani, Pourang; Boulanger, Pierre; Bischof, Walter F.

Trajectory-based tasks are common in many applications and have been widely studied. Recently, researchers have shown that even very simple tasks, such as selecting items from cascading menus, can benefit from haptic-force guidance. Haptic guidance is also of significant value in many applications such as medical training, handwriting learning, and in applications requiring precise manipulations. There are, however, only very few guiding principles for selecting parameters that are best suited for proper force guiding. In this paper, we present a model, derived from the steering law that relates movement time to the essential components of a tunneling task in the presence of haptic-force guidance. Results of an experiment show that our model is highly accurate for predicting performance times in force-enhanced tunneling tasks.

Haptic over visual information in the distribution of visual attention after tool-use in near and far space.

PubMed

Park, George D; Reed, Catherine L

2015-10-01

Despite attentional prioritization for grasping space near the hands, tool-use appears to transfer attentional bias to the tool's end/functional part. The contributions of haptic and visual inputs to attentional distribution along a tool were investigated as a function of tool-use in near (Experiment 1) and far (Experiment 2) space. Visual attention was assessed with a 50/50, go/no-go, target discrimination task, while a tool was held next to targets appearing near the tool-occupied hand or tool-end. Target response times (RTs) and sensitivity (d-prime) were measured at target locations, before and after functional tool practice for three conditions: (1) open-tool: tool-end visible (visual + haptic inputs), (2) hidden-tool: tool-end visually obscured (haptic input only), and (3) short-tool: stick missing tool's length/end (control condition: hand occupied but no visual/haptic input). In near space, both open- and hidden-tool groups showed a tool-end, attentional bias (faster RTs toward tool-end) before practice; after practice, RTs near the hand improved. In far space, the open-tool group showed no bias before practice; after practice, target RTs near the tool-end improved. However, the hidden-tool group showed a consistent tool-end bias despite practice. Lack of short-tool group results suggested that hidden-tool group results were specific to haptic inputs. In conclusion, (1) allocation of visual attention along a tool due to tool practice differs in near and far space, and (2) visual attention is drawn toward the tool's end even when visually obscured, suggesting haptic input provides sufficient information for directing attention along the tool.

Haptic spatial matching in near peripersonal space.

PubMed

Kaas, Amanda L; Mier, Hanneke I van

2006-04-01

Research has shown that haptic spatial matching at intermanual distances over 60 cm is prone to large systematic errors. The error pattern has been explained by the use of reference frames intermediate between egocentric and allocentric coding. This study investigated haptic performance in near peripersonal space, i.e. at intermanual distances of 60 cm and less. Twelve blindfolded participants (six males and six females) were presented with two turn bars at equal distances from the midsagittal plane, 30 or 60 cm apart. Different orientations (vertical/horizontal or oblique) of the left bar had to be matched by adjusting the right bar to either a mirror symmetric (/ \\) or parallel (/ /) position. The mirror symmetry task can in principle be performed accurately in both an egocentric and an allocentric reference frame, whereas the parallel task requires an allocentric representation. Results showed that parallel matching induced large systematic errors which increased with distance. Overall error was significantly smaller in the mirror task. The task difference also held for the vertical orientation at 60 cm distance, even though this orientation required the same response in both tasks, showing a marked effect of task instruction. In addition, men outperformed women on the parallel task. Finally, contrary to our expectations, systematic errors were found in the mirror task, predominantly at 30 cm distance. Based on these findings, we suggest that haptic performance in near peripersonal space might be dominated by different mechanisms than those which come into play at distances over 60 cm. Moreover, our results indicate that both inter-individual differences and task demands affect task performance in haptic spatial matching. Therefore, we conclude that the study of haptic spatial matching in near peripersonal space might reveal important additional constraints for the specification of adequate models of haptic spatial performance.

In vivo biomechanical measurement and haptic simulation of portal placement procedure in shoulder arthroscopic surgery

PubMed Central

Chae, Sanghoon; Jung, Sung-Weon

2018-01-01

A survey of 67 experienced orthopedic surgeons indicated that precise portal placement was the most important skill in arthroscopic surgery. However, none of the currently available virtual reality simulators include simulation / training in portal placement, including haptic feedback of the necessary puncture force. This study aimed to: (1) measure the in vivo force and stiffness during a portal placement procedure in an actual operating room and (2) implement active haptic simulation of a portal placement procedure using the measured in vivo data. We measured the force required for port placement and the stiffness of the joint capsule during portal placement procedures performed by an experienced arthroscopic surgeon. Based on the acquired mechanical property values, we developed a cable-driven active haptic simulator designed to train the portal placement skill and evaluated the validity of the simulated haptics. Ten patients diagnosed with rotator cuff tears were enrolled in this experiment. The maximum peak force and joint capsule stiffness during posterior portal placement procedures were 66.46 (±10.76N) and 2560.82(±252.92) N/m, respectively. We then designed an active haptic simulator using the acquired data. Our cable-driven mechanism structure had a friction force of 3.763 ± 0.341 N, less than 6% of the mean puncture force. Simulator performance was evaluated by comparing the target stiffness and force with the stiffness and force reproduced by the device. R-squared values were 0.998 for puncture force replication and 0.902 for stiffness replication, indicating that the in vivo data can be used to implement a realistic haptic simulator. PMID:29494691

Subthalamic nucleus deep brain stimulation improves somatosensory function in Parkinson's disease.

PubMed

Aman, Joshua E; Abosch, Aviva; Bebler, Maggie; Lu, Chia-Hao; Konczak, Jürgen

2014-02-01

An established treatment for the motor symptoms of Parkinson's disease (PD) is deep brain stimulation (DBS) of the subthalamic nucleus (STN). Mounting evidence suggests that PD is also associated with somatosensory deficits, yet the effect of STN-DBS on somatosensory processing is largely unknown. This study investigated whether STN-DBS affects somatosensory processing, specifically the processing of tactile and proprioceptive cues, by systematically examining the accuracy of haptic perception of object size. (Haptic perception refers to one's ability to extract object features such as shape and size by active touch.) Without vision, 13 PD patients with implanted STN-DBS and 13 healthy controls haptically explored the heights of 2 successively presented 3-dimensional (3D) blocks using a precision grip. Participants verbally indicated which block was taller and then used their nonprobing hand to motorically match the perceived size of the comparison block. Patients were tested during ON and OFF stimulation, following a 12-hour medication washout period. First, when compared to controls, the PD group's haptic discrimination threshold during OFF stimulation was elevated by 192% and mean hand aperture error was increased by 105%. Second, DBS lowered the haptic discrimination threshold by 26% and aperture error decreased by 20%. Third, during DBS ON, probing with the motorically more affected hand decreased haptic precision compared to probing with the less affected hand. This study offers the first evidence that STN-DBS improves haptic precision, further indicating that somatosensory function is improved by STN-DBS. We conclude that DBS-related improvements are not explained by improvements in motor function alone, but rather by enhanced somatosensory processing. © 2013 Movement Disorder Society.

Towards open-source, low-cost haptics for surgery simulation.

PubMed

Suwelack, Stefan; Sander, Christian; Schill, Julian; Serf, Manuel; Danz, Marcel; Asfour, Tamim; Burger, Wolfgang; Dillmann, Rüdiger; Speidel, Stefanie

2014-01-01

In minimally invasive surgery (MIS), virtual reality (VR) training systems have become a promising education tool. However, the adoption of these systems in research and clinical settings is still limited by the high costs of dedicated haptics hardware for MIS. In this paper, we present ongoing research towards an open-source, low-cost haptic interface for MIS simulation. We demonstrate the basic mechanical design of the device, the sensor setup as well as its software integration.

Experimental evaluation of a miniature MR device for a wide range of human perceivable haptic sensations

NASA Astrophysics Data System (ADS)

Yang, Tae-Heon; Koo, Jeong-Hoi

2017-12-01

Humans can experience a realistic and vivid haptic sensations by the sense of touch. In order to have a fully immersive haptic experience, both kinaesthetic and vibrotactile information must be presented to human users. Currently, little haptic research has been performed on small haptic actuators that can covey both vibrotactile feedback based on the frequency of vibrations up to the human-perceivable limit and multiple levels of kinaesthetic feedback rapidly. Therefore, this study intends to design a miniature haptic device based on MR fluid and experimentally evaluate its ability to convey vibrotactile feedback up to 300 Hz along with kinaesthetic feedback. After constructing a prototype device, a series of testing was performed to evaluate its performance of the prototype using an experimental setup, consisting of a precision dynamic mechanical analyzer and an accelerometer. The kinaesthetic testing results show that the prototype device can provide the force rate up to 89% at 5 V (360 mA), which can be discretized into multiple levels of ‘just noticeable difference’ force rate, indicating that the device can convey a wide range of kinaesthetic sensations. To evaluate the high frequency vibrotactile feedback performance of the device, its acceleration responses were measured and processed using the FFT analysis. The results indicate that the device can convey high frequency vibrotactile sensations up to 300 Hz with the sufficiently large intensity of accelerations that human can feel.

Vision-Based Haptic Feedback for Remote Micromanipulation in-SEM Environment

NASA Astrophysics Data System (ADS)

Bolopion, Aude; Dahmen, Christian; Stolle, Christian; Haliyo, Sinan; Régnier, Stéphane; Fatikow, Sergej

2012-07-01

This article presents an intuitive environment for remote micromanipulation composed of both haptic feedback and virtual reconstruction of the scene. To enable nonexpert users to perform complex teleoperated micromanipulation tasks, it is of utmost importance to provide them with information about the 3-D relative positions of the objects and the tools. Haptic feedback is an intuitive way to transmit such information. Since position sensors are not available at this scale, visual feedback is used to derive information about the scene. In this work, three different techniques are implemented, evaluated, and compared to derive the object positions from scanning electron microscope images. The modified correlation matching with generated template algorithm is accurate and provides reliable detection of objects. To track the tool, a marker-based approach is chosen since fast detection is required for stable haptic feedback. Information derived from these algorithms is used to propose an intuitive remote manipulation system that enables users situated in geographically distant sites to benefit from specific equipments, such as SEMs. Stability of the haptic feedback is ensured by the minimization of the delays, the computational efficiency of vision algorithms, and the proper tuning of the haptic coupling. Virtual guides are proposed to avoid any involuntary collisions between the tool and the objects. This approach is validated by a teleoperation involving melamine microspheres with a diameter of less than 2 μ m between Paris, France and Oldenburg, Germany.

The mere exposure effect in the domain of haptics.

PubMed

Jakesch, Martina; Carbon, Claus-Christian

2012-01-01

Zajonc showed that the attitude towards stimuli that one had been previously exposed to is more positive than towards novel stimuli. This mere exposure effect (MEE) has been tested extensively using various visual stimuli. Research on the MEE is sparse, however, for other sensory modalities. We used objects of two material categories (stone and wood) and two complexity levels (simple and complex) to test the influence of exposure frequency (F0 = novel stimuli, F2 = stimuli exposed twice, F10 = stimuli exposed ten times) under two sensory modalities (haptics only and haptics & vision). Effects of exposure frequency were found for high complex stimuli with significantly increasing liking from F0 to F2 and F10, but only for the stone category. Analysis of "Need for Touch" data showed the MEE in participants with high need for touch, which suggests different sensitivity or saturation levels of MEE. This different sensitivity or saturation levels might also reflect the effects of expertise on the haptic evaluation of objects. It seems that haptic and cross-modal MEEs are influenced by factors similar to those in the visual domain indicating a common cognitive basis.

Aging and the haptic perception of 3D surface shape.

PubMed

Norman, J Farley; Kappers, Astrid M L; Beers, Amanda M; Scott, A Kate; Norman, Hideko F; Koenderink, Jan J

2011-04-01

Two experiments evaluated the ability of older and younger adults to perceive the three-dimensional (3D) shape of object surfaces from active touch (haptics). The ages of the older adults ranged from 64 to 84 years, while those of the younger adults ranged from 18 to 27 years. In Experiment 1, the participants haptically judged the shape of large (20 cm diameter) surfaces with an entire hand. In contrast, in Experiment 2, the participants explored the shape of small (5 cm diameter) surfaces with a single finger. The haptic surfaces varied in shape index (Koenderink, Solid shape, 1990; Koenderink, Image and Vision Computing, 10, 557-564, 1992) from -1.0 to +1.0 in steps of 0.25. For both types of surfaces (large and small), the participants were able to judge surface shape reliably. The older participants' judgments of surface shape were just as accurate and precise as those of the younger participants. The results of the current study demonstrate that while older adults do possess reductions in tactile sensitivity and acuity, they nevertheless can effectively perceive 3D surface shape from haptic exploration.

A recursive Bayesian updating model of haptic stiffness perception.

PubMed

Wu, Bing; Klatzky, Roberta L

2018-06-01

Stiffness of many materials follows Hooke's Law, but the mechanism underlying the haptic perception of stiffness is not as simple as it seems in the physical definition. The present experiments support a model by which stiffness perception is adaptively updated during dynamic interaction. Participants actively explored virtual springs and estimated their stiffness relative to a reference. The stimuli were simulations of linear springs or nonlinear springs created by modulating a linear counterpart with low-amplitude, half-cycle (Experiment 1) or full-cycle (Experiment 2) sinusoidal force. Experiment 1 showed that subjective stiffness increased (decreased) as a linear spring was positively (negatively) modulated by a half-sinewave force. In Experiment 2, an opposite pattern was observed for full-sinewave modulations. Modeling showed that the results were best described by an adaptive process that sequentially and recursively updated an estimate of stiffness using the force and displacement information sampled over trajectory and time. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Fingerprint-Inspired Flexible Tactile Sensor for Accurately Discerning Surface Texture.

PubMed

Cao, Yudong; Li, Tie; Gu, Yang; Luo, Hui; Wang, Shuqi; Zhang, Ting

2018-04-01

Inspired by the epidermal-dermal and outer microstructures of the human fingerprint, a novel flexible sensor device is designed to improve haptic perception and surface texture recognition, which is consisted of single-walled carbon nanotubes, polyethylene, and polydimethylsiloxane with interlocked and outer micropyramid arrays. The sensor shows high pressure sensitivity (-3.26 kPa -1 in the pressure range of 0-300 Pa), and it can detect the shear force changes induced by the dynamic interaction between the outer micropyramid structure on the sensor and the tested material surface, and the minimum dimension of the microstripe that can be discerned is as low as 15 µm × 15 µm (interval × width). To demonstrate the texture discrimination capability, the sensors are tested for accurately discerning various surface textures, such as the textures of different fabrics, Braille characters, the inverted pyramid patterns, which will have great potential in robot skins and haptic perception, etc. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Haptic-STM: a human-in-the-loop interface to a scanning tunneling microscope.

PubMed

Perdigão, Luís M A; Saywell, Alex

2011-07-01

The operation of a haptic device interfaced with a scanning tunneling microscope (STM) is presented here. The user moves the STM tip in three dimensions by means of a stylus attached to the haptic instrument. The tunneling current measured by the STM is converted to a vertical force, applied to the stylus and felt by the user, with the user being incorporated into the feedback loop that controls the tip-surface distance. A haptic-STM interface of this nature allows the user to feel atomic features on the surface and facilitates the tactile manipulation of the adsorbate/substrate system. The operation of this device is demonstrated via the room temperature STM imaging of C(60) molecules adsorbed on an Au(111) surface in ultra-high vacuum.

Haptics-based immersive telerobotic system for improvised explosive device disposal: Are two hands better than one?

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Lambert, Jason Michel; Mantegh, Iraj; Crymble, Derry; Daly, John; Zhao, Yan

2012-06-01

State-of-the-art robotic explosive ordnance disposal robotics have not, in general, adopted recent advances in control technology and man-machine interfaces and lag many years behind academia. This paper describes the Haptics-based Immersive Telerobotic System project investigating an immersive telepresence envrionment incorporating advanced vehicle control systems, Augmented immersive sensory feedback, dynamic 3D visual information, and haptic feedback for explosive ordnance disposal operators. The project aim is to provide operatiors a more sophisticated interface and expand sensory input to perform complex tasks to defeat improvised explosive devices successfully. The introduction of haptics and immersive teleprescence has the potential to shift the way teleprescence systems work for explosive ordnance disposal tasks or more widely for first responders scenarios involving remote unmanned ground vehicles.

Combined use of two formulations containing diacetyl boldine, TGF-β1 biomimetic oligopeptide-68 with other hypopigmenting/exfoliating agents and sunscreen provides effective and convenient treatment for facial melasma. Either is equal to or is better than 4% hydroquinone on normal skin.

PubMed

Pratchyapurit, Walai-Orn

2016-06-01

Treatment of melasma remains a challenge and involves multistep approach. Diacetyl boldine (DAB) stabilizes tyrosinase in its inactive form while TGF-β1 biomimetic oligopeptide-68 inhibits tyrosinase activity. (1) to study the efficacy and safety of the combination use of two formulae containing two principal ingredients: DAB and TGF-β1 biomimetic oligopeptide-68 on facial melasma, and (2) to compare their efficacy with 2% and 4% hydroquinone cream (HQ) on sun-protected normal skin. A randomized, double-blind, 12-week comparative study of pre-/post-treatment was conducted in 40 females. Melasma was evaluated by manual MASI score and MASI score with instrumentally graded darkness at baseline, 6th week, and 12th week. The author also compared their effect with HQ on the arms, assessed their safety profile throughout the study. Thirty-eight subjects have completed the study. Their melasma showed improvement at the 6th week and 12th week as compared with baseline (P < 0.05). None developed severe reaction. Most subjects had temporary, mild skin reaction. About 2.6% of subjects graded themselves markedly improved, 76.3% moderately improved, and 21.1% slightly improved. Each formula showed either more efficacy or exerted faster action on pigment reduction than HQ. Combination of DAB serum at night and DAB/TGF-β1 biomimetic oligopeptide-68/sunscreen cream in the morning and at noon was effective and safe for facial melasma. They were superior to HQ in pigment reduction. © 2016 Wiley Periodicals, Inc.

Structure characterization of lipocyclopeptide antibiotics, aspartocins A, B & C, by ESI-MSMS and ESI-nozzle-skimmer-MSMS.

PubMed

Siegel, Marshall M; Kong, Fangming; Feng, Xidong; Carter, Guy T

2009-12-01

Three lipocyclopeptide antibiotics, aspartocins A (1), B (2), and C (3), were obtained from the aspartocin complex by HPLC separation methodology. Their structures were elucidated using previously published chemical degradation results coupled with spectroscopic studies including ESI-MS, ESI-Nozzle Skimmer-MSMS and NMR. All three aspartocin compounds share the same cyclic decapeptide core of cyclo [Dab2 (Asp1-FA)-Pip3-MeAsp4-Asp5-Gly6-Asp7-Gly8-Dab9-Val10-Pro11]. They differ only in the fatty acid side chain moiety (FA) corresponding to (Z)-13-methyltetradec-3-ene-carbonyl, (+,Z)-12-methyltetradec-3-ene-carbonyl and (Z)-12-methyltridec-3-ene-carbonyl for aspartocins A (1), B (2), and C (3), respectively. All of the sequence ions were observed by ESI-MSMS of the doubly charged parent ions. However, a number of the sequence ions observed were of low abundance. To fully sequence the lipocyclopeptide antibiotic structures, these low abundance sequence ions together with complementary sequence ions were confirmed by ESI-Nozzle-Skimmer-MSMS of the singly charged linear peptide parent fragment ions H-Asp5-Gly6-Asp7-Gly8-Dab9-Val10-Pro11-Dab2(1+)-Asp1-FA. Cyclization of the aspartocins was demonstrated to occur via the beta-amino group of Dab2 from ions of moderate intensity in the ESI-MSMS spectra. As the fatty acid moieties do not undergo internal fragmentations under the experimental ESI mass spectral conditions used, the 14 Da mass difference between the fatty acid moieties of aspartocins A (1) and B (2) versus aspartocin C (3) was used as an internal mass tag to differentiate fragment ions containing fatty acid moieties and those not containing the fatty acid moieties. The most numerous and abundant fragment ions observed in the tandem mass spectra are due to the cleavage of the tertiary nitrogen amide of the pipecolic acid residue-3 (16 fragment ions) and the proline residue-11 (7 fragment ions). In addition, the neutral loss of ethanimine from alpha,beta-diaminobutyric acid residue 9 was observed for the parent molecular ion and for 7 fragment ions. Copyright 2009 John Wiley & Sons, Ltd.

3D imaging, 3D printing and 3D virtual planning in endodontics.

PubMed

Shah, Pratik; Chong, B S

2018-03-01

The adoption and adaptation of recent advances in digital technology, such as three-dimensional (3D) printed objects and haptic simulators, in dentistry have influenced teaching and/or management of cases involving implant, craniofacial, maxillofacial, orthognathic and periodontal treatments. 3D printed models and guides may help operators plan and tackle complicated non-surgical and surgical endodontic treatment and may aid skill acquisition. Haptic simulators may assist in the development of competency in endodontic procedures through the acquisition of psycho-motor skills. This review explores and discusses the potential applications of 3D printed models and guides, and haptic simulators in the teaching and management of endodontic procedures. An understanding of the pertinent technology related to the production of 3D printed objects and the operation of haptic simulators are also presented.

A haptic device for guide wire in interventional radiology procedures.

PubMed

Moix, Thomas; Ilic, Dejan; Bleuler, Hannes; Zoethout, Jurjen

2006-01-01

Interventional Radiology (IR) is a minimally invasive procedure where thin tubular instruments, guide wires and catheters, are steered through the patient's vascular system under X-ray imaging. In order to perform these procedures, a radiologist has to be trained to master hand-eye coordination, instrument manipulation and procedure protocols. The existing simulation systems all have major drawbacks: the use of modified instruments, unrealistic insertion lengths, high inertia of the haptic device that creates a noticeably degraded dynamic behavior or excessive friction that is not properly compensated for. In this paper we propose a quality training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the patient's anatomy linked to a robotic interface providing haptic force feedback. This paper focuses on the requirements, design and prototyping of a specific haptic interface for guide wires.

An Enhanced Soft Vibrotactile Actuator Based on ePVC Gel with Silicon Dioxide Nanoparticles.

PubMed

Park, Won-Hyeong; Shin, Eun-Jae; Yun, Sungryul; Kim, Sang-Youn

2018-01-01

In this paper, we propose a soft vibrotactile actuator made by mixing silicon dioxide nanoparticles and plasticized PVC gel. The effect of the silicon dioxide nanoparticles in the plasticized PVC gel for the haptic performance is investigated in terms of electric, dielectric, and mechanical properties. Furthermore, eight soft vibrotactile actuators are prepared as a function of the content. Experiments are conducted to examine the haptic performance of the prepared eight soft vibrotactile actuators and to find the best weight ratio of the plasticized PVC gel to the nanoparticles. The experiments should show that the plasticized PVC gel with silicon dioxide nanoparticles improves the haptic performance of the plasticized PVC gel-based vibrotactile actuator, and the proposed vibrotactile actuator can create a variety of haptic sensations in a wide frequency range.

Morphologic compatibility or intraocular lens haptics and the lens capsule.

PubMed

Nagamoto, T; Eguchi, G

1997-10-01

To evaluate the mechanical relationship between the intraocular lens (IOL) haptic and the capsular bag by quantitatively analyzing the fit of the haptic with the capsule equator and the capsular bag deformity induced by the implanted lens haptics. Division of Morphogenesis, Department of Developmental Biology, National Institute for Basic Biology, Okazaki, Japan. Following implantation of a poly(methyl methacrylate)(PMMA) ring in three excised human capsular bags with continuous curvilinear capsulorhexis (CCC), IOLs with different overall lengths or haptic designs were implanted in the bags and photographed. The straight length of the area of contact between the haptic and the capsule equator on the photographs was measured to provide a quantitative index of in-the-bag fixation and the length from the external margin of the PMMA ring to the external margin of the loop along the maximal diameter of the capsular bag, to indicate the quantitative degree of capsular deformity induced by an IOL. An IOL with modified-C loops produced better fit along the capsule equator and less deformity than an IOL with modified-J loops, and an IOL with an overall length of 12.0 or 12.5 mm produced a sufficiently good fit and less distortion of the capsular bag than an IOL with an overall length over 13.0 mm. An IOL with modified-C loops and an overall length of 12.0 or 12.5 mm is adequate for in-the-bag implantation following CCC.

Fragility of haptic memory in human full-term newborns.

PubMed

Lejeune, Fleur; Borradori Tolsa, Cristina; Gentaz, Edouard; Barisnikov, Koviljka

2018-05-31

Numerous studies have established that newborns can memorize tactile information about the specific features of an object with their hands and detect differences with another object. However, the robustness of haptic memory abilities has already been examined in preterm newborns and in full-term infants, but not yet in full-term newborns. This research is aimed to better understand the robustness of haptic memory abilities at birth by examining the effects of a change in the objects' temperature and haptic interference. Sixty-eight full-term newborns (mean postnatal age: 2.5 days) were included. The two experiments were conducted in three phases: habituation (repeated presentation of the same object, a prism or cylinder in the newborn's hand), discrimination (presentation of a novel object), and recognition (presentation of the familiar object). In Experiment 1, the change in the objects' temperature was controlled during the three phases. Results reveal that newborns can memorize specific features that differentiate prism and cylinder shapes by touch, and discriminate between them, but surprisingly they did not show evidence of recognizing them after interference. As no significant effect of the temperature condition was observed in habituation, discrimination and recognition abilities, these findings suggest that discrimination abilities in newborns may be determined by the detection of shape differences. Overall, it seems that the ontogenesis of haptic recognition memory is not linear. The developmental schedule is likely crucial for haptic development between 34 and 40 GW. Copyright © 2018 Elsevier Inc. All rights reserved.

Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

PubMed

Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

2008-01-01

This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

Optimal visual-haptic integration with articulated tools.

PubMed

Takahashi, Chie; Watt, Simon J

2017-05-01

When we feel and see an object, the nervous system integrates visual and haptic information optimally, exploiting the redundancy in multiple signals to estimate properties more precisely than is possible from either signal alone. We examined whether optimal integration is similarly achieved when using articulated tools. Such tools (tongs, pliers, etc) are a defining characteristic of human hand function, but complicate the classical sensory 'correspondence problem' underlying multisensory integration. Optimal integration requires establishing the relationship between signals acquired by different sensors (hand and eye) and, therefore, in fundamentally unrelated units. The system must also determine when signals refer to the same property of the world-seeing and feeling the same thing-and only integrate those that do. This could be achieved by comparing the pattern of current visual and haptic input to known statistics of their normal relationship. Articulated tools disrupt this relationship, however, by altering the geometrical relationship between object properties and hand posture (the haptic signal). We examined whether different tool configurations are taken into account in visual-haptic integration. We indexed integration by measuring the precision of size estimates, and compared our results to optimal predictions from a maximum-likelihood integrator. Integration was near optimal, independent of tool configuration/hand posture, provided that visual and haptic signals referred to the same object in the world. Thus, sensory correspondence was determined correctly (trial-by-trial), taking tool configuration into account. This reveals highly flexible multisensory integration underlying tool use, consistent with the brain constructing internal models of tools' properties.

A perspective on the role and utility of haptic feedback in laparoscopic skills training.

PubMed

Singapogu, Ravikiran; Burg, Timothy; Burg, Karen J L; Smith, Dane E; Eckenrode, Amanda H

2014-01-01

Laparoscopic surgery is a minimally invasive surgical technique with significant potential benefits to the patient, including shorter recovery time, less scarring, and decreased costs. There is a growing need to teach surgical trainees this emerging surgical technique. Simulators, ranging from simple "box" trainers to complex virtual reality (VR) trainers, have emerged as the most promising method for teaching basic laparoscopic surgical skills. Current box trainers require oversight from an expert surgeon for both training and assessing skills. VR trainers decrease the dependence on expert teachers during training by providing objective, real-time feedback and automatic skills evaluation. However, current VR trainers generally have limited credibility as a means to prepare new surgeons and have often fallen short of educators' expectations. Several researchers have speculated that the missing component in modern VR trainers is haptic feedback, which refers to the range of touch sensations encountered during surgery. These force types and ranges need to be adequately rendered by simulators for a more complete training experience. This article presents a perspective of the role and utility of haptic feedback during laparoscopic surgery and laparoscopic skills training by detailing the ranges and types of haptic sensations felt by the operating surgeon, along with quantitative studies of how this feedback is used. Further, a number of research studies that have documented human performance effects as a result of the presence of haptic feedback are critically reviewed. Finally, key research directions in using haptic feedback for laparoscopy training simulators are identified.

The Mere Exposure Effect in the Domain of Haptics

PubMed Central

Jakesch, Martina; Carbon, Claus-Christian

2012-01-01

Background Zajonc showed that the attitude towards stimuli that one had been previously exposed to is more positive than towards novel stimuli. This mere exposure effect (MEE) has been tested extensively using various visual stimuli. Research on the MEE is sparse, however, for other sensory modalities. Methodology/Principal Findings We used objects of two material categories (stone and wood) and two complexity levels (simple and complex) to test the influence of exposure frequency (F0 = novel stimuli, F2 = stimuli exposed twice, F10 = stimuli exposed ten times) under two sensory modalities (haptics only and haptics & vision). Effects of exposure frequency were found for high complex stimuli with significantly increasing liking from F0 to F2 and F10, but only for the stone category. Analysis of “Need for Touch” data showed the MEE in participants with high need for touch, which suggests different sensitivity or saturation levels of MEE. Conclusions/Significance This different sensitivity or saturation levels might also reflect the effects of expertise on the haptic evaluation of objects. It seems that haptic and cross-modal MEEs are influenced by factors similar to those in the visual domain indicating a common cognitive basis. PMID:22347451

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

PubMed

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

2017-01-01

Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

Experimental Study on the Perception Characteristics of Haptic Texture by Multidimensional Scaling.

PubMed

Wu, Juan; Li, Na; Liu, Wei; Song, Guangming; Zhang, Jun

2015-01-01

Recent works regarding real texture perception demonstrate that physical factors such as stiffness and spatial period play a fundamental role in texture perception. This research used a multidimensional scaling (MDS) analysis to further characterize and quantify the effects of the simulation parameters on haptic texture rendering and perception. In a pilot experiment, 12 haptic texture samples were generated by using a 3-degrees-of-freedom (3-DOF) force-feedback device with varying spatial period, height, and stiffness coefficient parameter values. The subjects' perceptions of the virtual textures indicate that roughness, denseness, flatness and hardness are distinguishing characteristics of texture. In the main experiment, 19 participants rated the dissimilarities of the textures and estimated the magnitudes of their characteristics. The MDS method was used to recover the underlying perceptual space and reveal the significance of the space from the recorded data. The physical parameters and their combinations have significant effects on the perceptual characteristics. A regression model was used to quantitatively analyze the parameters and their effects on the perceptual characteristics. This paper is to illustrate that haptic texture perception based on force feedback can be modeled in two- or three-dimensional space and provide suggestions on improving perception-based haptic texture rendering.

Haptic shape discrimination and interhemispheric communication.

PubMed

Dowell, Catherine J; Norman, J Farley; Moment, Jackie R; Shain, Lindsey M; Norman, Hideko F; Phillips, Flip; Kappers, Astrid M L

2018-01-10

In three experiments participants haptically discriminated object shape using unimanual (single hand explored two objects) and bimanual exploration (both hands were used, but each hand, left or right, explored a separate object). Such haptic exploration (one versus two hands) requires somatosensory processing in either only one or both cerebral hemispheres; previous studies related to the perception of shape/curvature found superior performance for unimanual exploration, indicating that shape comparison is more effective when only one hemisphere is utilized. The current results, obtained for naturally shaped solid objects (bell peppers, Capsicum annuum) and simple cylindrical surfaces demonstrate otherwise: bimanual haptic exploration can be as effective as unimanual exploration, showing that there is no necessary reduction in ability when haptic shape comparison requires interhemispheric communication. We found that while successive bimanual exploration produced high shape discriminability, the participants' bimanual performance deteriorated for simultaneous shape comparisons. This outcome suggests that either interhemispheric interference or the need to attend to multiple objects simultaneously reduces shape discrimination ability. The current results also reveal a significant effect of age: older adults' shape discrimination abilities are moderately reduced relative to younger adults, regardless of how objects are manipulated (left hand only, right hand only, or bimanual exploration).

Differential effects of delay upon visually and haptically guided grasping and perceptual judgments.

PubMed

Pettypiece, Charles E; Culham, Jody C; Goodale, Melvyn A

2009-05-01

Experiments with visual illusions have revealed a dissociation between the systems that mediate object perception and those responsible for object-directed action. More recently, an experiment on a haptic version of the visual size-contrast illusion has provided evidence for the notion that the haptic modality shows a similar dissociation when grasping and estimating the size of objects in real-time. Here we present evidence suggesting that the similarities between the two modalities begin to break down once a delay is introduced between when people feel the target object and when they perform the grasp or estimation. In particular, when grasping after a delay in a haptic paradigm, people scale their grasps differently when the target is presented with a flanking object of a different size (although the difference does not reflect a size-contrast effect). When estimating after a delay, however, it appears that people ignore the size of the flanking objects entirely. This does not fit well with the results commonly found in visual experiments. Thus, introducing a delay reveals important differences in the way in which haptic and visual memories are stored and accessed.

Modular AC Nano-Grid with Four-Quadrant Micro-Inverters and High-Efficiency DC-DC Conversion

NASA Astrophysics Data System (ADS)

Poshtkouhi, Shahab

A significant portion of the population in developing countries live in remote communities, where the power infrastructure and the required capital investment to set up local grids do not exist. This is due to the fuel shipment and utilization costs required for fossil fuel based generators, which are traditionally used in these local grids, as well as high upfront costs associated with the centralized Energy Storage Systems (ESS). This dissertation targets modular AC nano-grids for these remote communities developed at minimal capital cost, where the generators are replaced with multiple inverters, connected to either Photovoltaic (PV) or battery modules, which can be gradually added to the nano-grid. A distributed droop-based control architecture is presented for the PV and battery Micro-Inverters (MIV) in order to achieve frequency and voltage stability, as well as active and reactive power sharing. The nano-grid voltage is regulated collectively in either one of four operational regions. Effective load sharing and transient handling are demonstrated experimentally by forming a nano-grid which consists of two custom 500 W MIVs. The MIVs forming the nano-grid have to meet certain requirements. A two-stage MIV architecture and control scheme with four-quadrant power-flow between the nano-grid, the PV/battery and optional short-term storage is presented. The short-term storage is realized using high energy-density Lithium-Ion Capacitor (LIC) technology. A real-time power smoothing algorithm utilizing LIC modules is developed and tested, while the performance of the 100 W MIV is experimentally verified under closed-loop dynamic conditions. Two main limitations of the DAB topology, as the core of the MIV architecture's dc-dc stage, are addressed: 1) This topology demonstrates poor efficiency and limited regulation accuracy at low power. These are improved by introducing a modified topology to operate the DAB in Flyback mode, achieving up to an 8% increase in converter efficiency. 2) The DAB topology needs four digital isolators for driving the active switches on the other side of the isolation boundary. Two Phase-Locked-Loop (PLL) based synchronization schemes are introduced in order to reduce the number of required digital isolators, hence increasing reliability and reducing the implementation costs. One of these schemes is demonstrated on a discrete 150 W DAB prototype, while both of them are implemented on-chip in a 0.18mum 80V BCD process. In addition, the power-stage of the primary-side of a 1 MHz, 50 W DAB converter is fully integrated on the same die. By using such a high switching frequency, the size of passive elements in the DAB is reduced, resulting in further cost reductions for the MIV. The results of this dissertation pave the way for affordable nano-grids with minimal capital cost, reliable performance and reduced complexity.

Improved haptic interface for colonoscopy simulation.

PubMed

Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young

2007-01-01

This paper presents an improved haptic interface of the KAIST-Ewha colonoscopy simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing enough workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors, and triggers computation to render accurate graphic images corresponding to the angle knob rotation. Tack switches are attached on the valve-actuation buttons of the colonoscope to simulate air-injection or suction, and the corresponding deformation of the colon.

Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies.

PubMed

Melman, T; de Winter, J C F; Abbink, D A

2017-01-01

An important issue in road traffic safety is that drivers show adverse behavioral adaptation (BA) to driver assistance systems. Haptic steering guidance is an upcoming assistance system which facilitates lane-keeping performance while keeping drivers in the loop, and which may be particularly prone to BA. Thus far, experiments on haptic steering guidance have measured driver performance while the vehicle speed was kept constant. The aim of the present driving simulator study was to examine whether haptic steering guidance causes BA in the form of speeding, and to evaluate two types of haptic steering guidance designed not to suffer from BA. Twenty-four participants drove a 1.8m wide car for 13.9km on a curved road, with cones demarcating a single 2.2m narrow lane. Participants completed four conditions in a counterbalanced design: no guidance (Manual), continuous haptic guidance (Cont), continuous guidance that linearly reduced feedback gains from full guidance at 125km/h towards manual control at 130km/h and above (ContRF), and haptic guidance provided only when the predicted lateral position was outside a lateral bandwidth (Band). Participants were familiarized with each condition prior to the experimental runs and were instructed to drive as they normally would while minimizing the number of cone hits. Compared to Manual, the Cont condition yielded a significantly higher driving speed (on average by 7km/h), whereas ContRF and Band did not. All three guidance conditions yielded better lane-keeping performance than Manual, whereas Cont and ContRF yielded lower self-reported workload than Manual. In conclusion, continuous steering guidance entices drivers to increase their speed, thereby diminishing its potential safety benefits. It is possible to prevent BA while retaining safety benefits by making a design adjustment either in lateral (Band) or in longitudinal (ContRF) direction. Copyright © 2016. Published by Elsevier Ltd.

Feel, imagine and learn! - Haptic augmented simulation and embodied instruction in physics learning

NASA Astrophysics Data System (ADS)

Han, In Sook

The purpose of this study was to investigate the potentials and effects of an embodied instructional model in abstract concept learning. This embodied instructional process included haptic augmented educational simulation as an instructional tool to provide perceptual experiences as well as further instruction to activate those previous experiences with perceptual simulation. In order to verify the effectiveness of this instructional model, haptic augmented simulation with three different haptic levels (force and kinesthetic, kinesthetic, and non-haptic) and instructional materials (narrative and expository) were developed and their effectiveness tested. 220 fifth grade students were recruited to participate in the study from three elementary schools located in lower SES neighborhoods in Bronx, New York. The study was conducted for three consecutive weeks in regular class periods. The data was analyzed using ANCOVA, ANOVA, and MANOVA. The result indicates that haptic augmented simulations, both the force and kinesthetic and the kinesthetic simulations, was more effective than the non-haptic simulation in providing perceptual experiences and helping elementary students to create multimodal representations about machines' movements. However, in most cases, force feedback was needed to construct a fully loaded multimodal representation that could be activated when the instruction with less sensory modalities was being given. In addition, the force and kinesthetic simulation was effective in providing cognitive grounding to comprehend a new learning content based on the multimodal representation created with enhanced force feedback. Regarding the instruction type, it was found that the narrative and the expository instructions did not make any difference in activating previous perceptual experiences. These findings suggest that it is important to help students to make a solid cognitive ground with perceptual anchor. Also, sequential abstraction process would deepen students' understanding by providing an opportunity to practice their mental simulation by removing sensory modalities used one by one and to gradually reach abstract level of understanding where students can imagine the machine's movements and working mechanisms with only abstract language without any perceptual supports.

Perceiving Object Shape from Specular Highlight Deformation, Boundary Contour Deformation, and Active Haptic Manipulation.

PubMed

Norman, J Farley; Phillips, Flip; Cheeseman, Jacob R; Thomason, Kelsey E; Ronning, Cecilia; Behari, Kriti; Kleinman, Kayla; Calloway, Autum B; Lamirande, Davora

2016-01-01

It is well known that motion facilitates the visual perception of solid object shape, particularly when surface texture or other identifiable features (e.g., corners) are present. Conventional models of structure-from-motion require the presence of texture or identifiable object features in order to recover 3-D structure. Is the facilitation in 3-D shape perception similar in magnitude when surface texture is absent? On any given trial in the current experiments, participants were presented with a single randomly-selected solid object (bell pepper or randomly-shaped "glaven") for 12 seconds and were required to indicate which of 12 (for bell peppers) or 8 (for glavens) simultaneously visible objects possessed the same shape. The initial single object's shape was defined either by boundary contours alone (i.e., presented as a silhouette), specular highlights alone, specular highlights combined with boundary contours, or texture. In addition, there was a haptic condition: in this condition, the participants haptically explored with both hands (but could not see) the initial single object for 12 seconds; they then performed the same shape-matching task used in the visual conditions. For both the visual and haptic conditions, motion (rotation in depth or active object manipulation) was present in half of the trials and was not present for the remaining trials. The effect of motion was quantitatively similar for all of the visual and haptic conditions-e.g., the participants' performance in Experiment 1 was 93.5 percent higher in the motion or active haptic manipulation conditions (when compared to the static conditions). The current results demonstrate that deforming specular highlights or boundary contours facilitate 3-D shape perception as much as the motion of objects that possess texture. The current results also indicate that the improvement with motion that occurs for haptics is similar in magnitude to that which occurs for vision.

Perceiving Object Shape from Specular Highlight Deformation, Boundary Contour Deformation, and Active Haptic Manipulation

PubMed Central

Cheeseman, Jacob R.; Thomason, Kelsey E.; Ronning, Cecilia; Behari, Kriti; Kleinman, Kayla; Calloway, Autum B.; Lamirande, Davora

2016-01-01

It is well known that motion facilitates the visual perception of solid object shape, particularly when surface texture or other identifiable features (e.g., corners) are present. Conventional models of structure-from-motion require the presence of texture or identifiable object features in order to recover 3-D structure. Is the facilitation in 3-D shape perception similar in magnitude when surface texture is absent? On any given trial in the current experiments, participants were presented with a single randomly-selected solid object (bell pepper or randomly-shaped “glaven”) for 12 seconds and were required to indicate which of 12 (for bell peppers) or 8 (for glavens) simultaneously visible objects possessed the same shape. The initial single object’s shape was defined either by boundary contours alone (i.e., presented as a silhouette), specular highlights alone, specular highlights combined with boundary contours, or texture. In addition, there was a haptic condition: in this condition, the participants haptically explored with both hands (but could not see) the initial single object for 12 seconds; they then performed the same shape-matching task used in the visual conditions. For both the visual and haptic conditions, motion (rotation in depth or active object manipulation) was present in half of the trials and was not present for the remaining trials. The effect of motion was quantitatively similar for all of the visual and haptic conditions–e.g., the participants’ performance in Experiment 1 was 93.5 percent higher in the motion or active haptic manipulation conditions (when compared to the static conditions). The current results demonstrate that deforming specular highlights or boundary contours facilitate 3-D shape perception as much as the motion of objects that possess texture. The current results also indicate that the improvement with motion that occurs for haptics is similar in magnitude to that which occurs for vision. PMID:26863531

Haptics in forensics: the possibilities and advantages in using the haptic device for reconstruction approaches in forensic science.

PubMed

Buck, Ursula; Naether, Silvio; Braun, Marcel; Thali, Michael

2008-09-18

Non-invasive documentation methods such as surface scanning and radiological imaging are gaining in importance in the forensic field. These three-dimensional technologies provide digital 3D data, which are processed and handled in the computer. However, the sense of touch gets lost using the virtual approach. The haptic device enables the use of the sense of touch to handle and feel digital 3D data. The multifunctional application of a haptic device for forensic approaches is evaluated and illustrated in three different cases: the representation of bone fractures of the lower extremities, by traffic accidents, in a non-invasive manner; the comparison of bone injuries with the presumed injury-inflicting instrument; and in a gunshot case, the identification of the gun by the muzzle imprint, and the reconstruction of the holding position of the gun. The 3D models of the bones are generated from the Computed Tomography (CT) images. The 3D models of the exterior injuries, the injury-inflicting tools and the bone injuries, where a higher resolution is necessary, are created by the optical surface scan. The haptic device is used in combination with the software FreeForm Modelling Plus for touching the surface of the 3D models to feel the minute injuries and the surface of tools, to reposition displaced bone parts and to compare an injury-causing instrument with an injury. The repositioning of 3D models in a reconstruction is easier, faster and more precisely executed by means of using the sense of touch and with the user-friendly movement in the 3D space. For representation purposes, the fracture lines of bones are coloured. This work demonstrates that the haptic device is a suitable and efficient application in forensic science. The haptic device offers a new way in the handling of digital data in the virtual 3D space.

Adaptation of a haptic robot in a 3T fMRI.

PubMed

Snider, Joseph; Plank, Markus; May, Larry; Liu, Thomas T; Poizner, Howard

2011-10-04

Functional magnetic resonance imaging (fMRI) provides excellent functional brain imaging via the BOLD signal with advantages including non-ionizing radiation, millimeter spatial accuracy of anatomical and functional data, and nearly real-time analyses. Haptic robots provide precise measurement and control of position and force of a cursor in a reasonably confined space. Here we combine these two technologies to allow precision experiments involving motor control with haptic/tactile environment interaction such as reaching or grasping. The basic idea is to attach an 8 foot end effecter supported in the center to the robot allowing the subject to use the robot, but shielding it and keeping it out of the most extreme part of the magnetic field from the fMRI machine (Figure 1). The Phantom Premium 3.0, 6DoF, high-force robot (SensAble Technologies, Inc.) is an excellent choice for providing force-feedback in virtual reality experiments, but it is inherently non-MR safe, introduces significant noise to the sensitive fMRI equipment, and its electric motors may be affected by the fMRI's strongly varying magnetic field. We have constructed a table and shielding system that allows the robot to be safely introduced into the fMRI environment and limits both the degradation of the fMRI signal by the electrically noisy motors and the degradation of the electric motor performance by the strongly varying magnetic field of the fMRI. With the shield, the signal to noise ratio (SNR: mean signal/noise standard deviation) of the fMRI goes from a baseline of ~380 to ~330, and ~250 without the shielding. The remaining noise appears to be uncorrelated and does not add artifacts to the fMRI of a test sphere (Figure 2). The long, stiff handle allows placement of the robot out of range of the most strongly varying parts of the magnetic field so there is no significant effect of the fMRI on the robot. The effect of the handle on the robot's kinematics is minimal since it is lightweight (~2.6 lbs) but extremely stiff 3/4" graphite and well balanced on the 3DoF joint in the middle. The end result is an fMRI compatible, haptic system with about 1 cubic foot of working space, and, when combined with virtual reality, it allows for a new set of experiments to be performed in the fMRI environment including naturalistic reaching, passive displacement of the limb and haptic perception, adaptation learning in varying force fields, or texture identification.

A review of haptic simulator for oral and maxillofacial surgery based on virtual reality.

PubMed

Chen, Xiaojun; Hu, Junlei

2018-06-01

Traditional medical training in oral and maxillofacial surgery (OMFS) may be limited by its low efficiency and high price due to the shortage of cadaver resources. With the combination of visual rendering and feedback force, surgery simulators become increasingly popular in hospitals and medical schools as an alternative to the traditional training. Areas covered: The major goal of this review is to provide a comprehensive reference source of current and future developments of haptic OMFS simulators based on virtual reality (VR) for relevant researchers. Expert commentary: Visual rendering, haptic rendering, tissue deformation, and evaluation are key components of haptic surgery simulator based on VR. Compared with traditional medical training, virtual and tactical fusion of virtual environment in surgery simulator enables considerably vivid sensation, and the operators have more opportunities to practice surgical skills and receive objective evaluation as reference.

Selective attention modulates visual and haptic repetition priming: effects in aging and Alzheimer's disease.

PubMed

Ballesteros, Soledad; Reales, José M; Mayas, Julia; Heller, Morton A

2008-08-01

In two experiments, we examined the effect of selective attention at encoding on repetition priming in normal aging and Alzheimer's disease (AD) patients for objects presented visually (experiment 1) or haptically (experiment 2). We used a repetition priming paradigm combined with a selective attention procedure at encoding. Reliable priming was found for both young adults and healthy older participants for visually presented pictures (experiment 1) as well as for haptically presented objects (experiment 2). However, this was only found for attended and not for unattended stimuli. The results suggest that independently of the perceptual modality, repetition priming requires attention at encoding and that perceptual facilitation is maintained in normal aging. However, AD patients did not show priming for attended stimuli, or for unattended visual or haptic objects. These findings suggest an early deficit of selective attention in AD. Results are discussed from a cognitive neuroscience approach.

A three-axis force sensor for dual finger haptic interfaces.

PubMed

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-10-10

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.

Blindness enhances tactile acuity and haptic 3-D shape discrimination.

PubMed

Norman, J Farley; Bartholomew, Ashley N

2011-10-01

This study compared the sensory and perceptual abilities of the blind and sighted. The 32 participants were required to perform two tasks: tactile grating orientation discrimination (to determine tactile acuity) and haptic three-dimensional (3-D) shape discrimination. The results indicated that the blind outperformed their sighted counterparts (individually matched for both age and sex) on both tactile tasks. The improvements in tactile acuity that accompanied blindness occurred for all blind groups (congenital, early, and late). However, the improvements in haptic 3-D shape discrimination only occurred for the early-onset and late-onset blindness groups; the performance of the congenitally blind was no better than that of the sighted controls. The results of the present study demonstrate that blindness does lead to an enhancement of tactile abilities, but they also suggest that early visual experience may play a role in facilitating haptic 3-D shape discrimination.

Verticality perception during and after galvanic vestibular stimulation.

PubMed

Volkening, Katharina; Bergmann, Jeannine; Keller, Ingo; Wuehr, Max; Müller, Friedemann; Jahn, Klaus

2014-10-03

The human brain constructs verticality perception by integrating vestibular, somatosensory, and visual information. Here we investigated whether galvanic vestibular stimulation (GVS) has an effect on verticality perception both during and after application, by assessing the subjective verticals (visual, haptic and postural) in healthy subjects at those times. During stimulation the subjective visual vertical and the subjective haptic vertical shifted towards the anode, whereas this shift was reversed towards the cathode in all modalities once stimulation was turned off. Overall, the effects were strongest for the haptic modality. Additional investigation of the time course of GVS-induced changes in the haptic vertical revealed that anodal shifts persisted for the entire 20-min stimulation interval in the majority of subjects. Aftereffects exhibited different types of decay, with a preponderance for an exponential decay. The existence of such reverse effects after stimulation could have implications for GVS-based therapy. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Effects of 3D virtual haptics force feedback on brand personality perception: the mediating role of physical presence in advergames.

PubMed

Jin, Seung-A Annie

2010-06-01

This study gauged the effects of force feedback in the Novint Falcon haptics system on the sensory and cognitive dimensions of a virtual test-driving experience. First, in order to explore the effects of tactile stimuli with force feedback on users' sensory experience, feelings of physical presence (the extent to which virtual physical objects are experienced as actual physical objects) were measured after participants used the haptics interface. Second, to evaluate the effects of force feedback on the cognitive dimension of consumers' virtual experience, this study investigated brand personality perception. The experiment utilized the Novint Falcon haptics controller to induce immersive virtual test-driving through tactile stimuli. The author designed a two-group (haptics stimuli with force feedback versus no force feedback) comparison experiment (N = 238) by manipulating the level of force feedback. Users in the force feedback condition were exposed to tactile stimuli involving various force feedback effects (e.g., terrain effects, acceleration, and lateral forces) while test-driving a rally car. In contrast, users in the control condition test-drove the rally car using the Novint Falcon but were not given any force feedback. Results of ANOVAs indicated that (a) users exposed to force feedback felt stronger physical presence than those in the no force feedback condition, and (b) users exposed to haptics stimuli with force feedback perceived the brand personality of the car to be more rugged than those in the control condition. Managerial implications of the study for product trial in the business world are discussed.

Patient DF's visual brain in action: Visual feedforward control in visual form agnosia.

PubMed

Whitwell, Robert L; Milner, A David; Cavina-Pratesi, Cristiana; Barat, Masihullah; Goodale, Melvyn A

2015-05-01

Patient DF, who developed visual form agnosia following ventral-stream damage, is unable to discriminate the width of objects, performing at chance, for example, when asked to open her thumb and forefinger a matching amount. Remarkably, however, DF adjusts her hand aperture to accommodate the width of objects when reaching out to pick them up (grip scaling). While this spared ability to grasp objects is presumed to be mediated by visuomotor modules in her relatively intact dorsal stream, it is possible that it may rely abnormally on online visual or haptic feedback. We report here that DF's grip scaling remained intact when her vision was completely suppressed during grasp movements, and it still dissociated sharply from her poor perceptual estimates of target size. We then tested whether providing trial-by-trial haptic feedback after making such perceptual estimates might improve DF's performance, but found that they remained significantly impaired. In a final experiment, we re-examined whether DF's grip scaling depends on receiving veridical haptic feedback during grasping. In one condition, the haptic feedback was identical to the visual targets. In a second condition, the haptic feedback was of a constant intermediate width while the visual target varied trial by trial. Despite this incongruent feedback, DF still scaled her grip aperture to the visual widths of the target blocks, showing only normal adaptation to the false haptically-experienced width. Taken together, these results strengthen the view that DF's spared grasping relies on a normal mode of dorsal-stream functioning, based chiefly on visual feedforward processing. Copyright © 2014 Elsevier B.V. All rights reserved.

Evaluation by Expert Dancers of a Robot That Performs Partnered Stepping via Haptic Interaction.

PubMed

Chen, Tiffany L; Bhattacharjee, Tapomayukh; McKay, J Lucas; Borinski, Jacquelyn E; Hackney, Madeleine E; Ting, Lena H; Kemp, Charles C

2015-01-01

Our long-term goal is to enable a robot to engage in partner dance for use in rehabilitation therapy, assessment, diagnosis, and scientific investigations of two-person whole-body motor coordination. Partner dance has been shown to improve balance and gait in people with Parkinson's disease and in older adults, which motivates our work. During partner dance, dance couples rely heavily on haptic interaction to convey motor intent such as speed and direction. In this paper, we investigate the potential for a wheeled mobile robot with a human-like upper-body to perform partnered stepping with people based on the forces applied to its end effectors. Blindfolded expert dancers (N=10) performed a forward/backward walking step to a recorded drum beat while holding the robot's end effectors. We varied the admittance gain of the robot's mobile base controller and the stiffness of the robot's arms. The robot followed the participants with low lag (M=224, SD=194 ms) across all trials. High admittance gain and high arm stiffness conditions resulted in significantly improved performance with respect to subjective and objective measures. Biomechanical measures such as the human hand to human sternum distance, center-of-mass of leader to center-of-mass of follower (CoM-CoM) distance, and interaction forces correlated with the expert dancers' subjective ratings of their interactions with the robot, which were internally consistent (Cronbach's α=0.92). In response to a final questionnaire, 1/10 expert dancers strongly agreed, 5/10 agreed, and 1/10 disagreed with the statement "The robot was a good follower." 2/10 strongly agreed, 3/10 agreed, and 2/10 disagreed with the statement "The robot was fun to dance with." The remaining participants were neutral with respect to these two questions.

Evaluation by Expert Dancers of a Robot That Performs Partnered Stepping via Haptic Interaction

PubMed Central

Chen, Tiffany L.; Bhattacharjee, Tapomayukh; McKay, J. Lucas; Borinski, Jacquelyn E.; Hackney, Madeleine E.; Ting, Lena H.; Kemp, Charles C.

2015-01-01

Our long-term goal is to enable a robot to engage in partner dance for use in rehabilitation therapy, assessment, diagnosis, and scientific investigations of two-person whole-body motor coordination. Partner dance has been shown to improve balance and gait in people with Parkinson's disease and in older adults, which motivates our work. During partner dance, dance couples rely heavily on haptic interaction to convey motor intent such as speed and direction. In this paper, we investigate the potential for a wheeled mobile robot with a human-like upper-body to perform partnered stepping with people based on the forces applied to its end effectors. Blindfolded expert dancers (N=10) performed a forward/backward walking step to a recorded drum beat while holding the robot's end effectors. We varied the admittance gain of the robot's mobile base controller and the stiffness of the robot's arms. The robot followed the participants with low lag (M=224, SD=194 ms) across all trials. High admittance gain and high arm stiffness conditions resulted in significantly improved performance with respect to subjective and objective measures. Biomechanical measures such as the human hand to human sternum distance, center-of-mass of leader to center-of-mass of follower (CoM-CoM) distance, and interaction forces correlated with the expert dancers' subjective ratings of their interactions with the robot, which were internally consistent (Cronbach's α=0.92). In response to a final questionnaire, 1/10 expert dancers strongly agreed, 5/10 agreed, and 1/10 disagreed with the statement "The robot was a good follower." 2/10 strongly agreed, 3/10 agreed, and 2/10 disagreed with the statement "The robot was fun to dance with." The remaining participants were neutral with respect to these two questions. PMID:25993099

The impact of haptic feedback on students' conceptions of the cell

NASA Astrophysics Data System (ADS)

Minogue, James

2005-07-01

The purpose of this study was to investigate the efficacy of adding haptic (sense of touch) feedback to computer generated visualizations for use in middle school science instruction. Current technology allows for the simulation of tactile and kinesthetic sensations via haptic devices and a computer interface. This study, conducted with middle school students (n = 80), explored the cognitive and affective impacts of this innovative technology on students' conceptions of the cell and the process of passive transport. A pretest-posttest control group design was used and participants were randomly assigned to one of two treatment groups (n = 40 for each). Both groups experienced the same core computer-mediated instructional program. This Cell Exploration program engaged students in a 3-D immersive environment that allowed them to actively investigate the form and function of a typical animal cell including its major organelles. The program also engaged students in a study of the structure and function of the cell membrane as it pertains to the process of passive transport and the mechanisms behind the membrane's selective permeability. As they conducted their investigations, students in the experimental group received bi-modal visual and haptic (simulated tactile and kinesthetic) feedback whereas the control group students experienced the program with only visual stimuli. A battery of assessments, including objective and open-ended written response items as well as a haptic performance assessment, were used to gather quantitative and qualitative data regarding changes in students' understandings of the cell concepts prior to and following their completion of the instructional program. Additionally, the impact of haptics on the affective domain of students' learning was assessed using a post-experience semi-structured interview and an attitudinal survey. Results showed that students from both conditions (Visual-Only and Visual + Haptic) found the instructional program interesting and engaging. Additionally, the vast majority of the students reported that they learned a lot about and were more interested in the topic due to their participation. Moreover, students who received the bi-modal (Visual + Haptic) feedback indicated that they experienced lower levels of frustration and spatial disorientation as they conducted their investigations when compared to individuals that relied solely on vision. There were no significant differences measured across the treatment groups on the cognitive assessment items. Despite this finding, the study provided valuable insight into the theoretical and practical considerations involved in the development of multimodal instructional programs.

Structural health monitoring for bolt loosening via a non-invasive vibro-haptics human-machine cooperative interface

NASA Astrophysics Data System (ADS)

Pekedis, Mahmut; Mascerañas, David; Turan, Gursoy; Ercan, Emre; Farrar, Charles R.; Yildiz, Hasan

2015-08-01

For the last two decades, developments in damage detection algorithms have greatly increased the potential for autonomous decisions about structural health. However, we are still struggling to build autonomous tools that can match the ability of a human to detect and localize the quantity of damage in structures. Therefore, there is a growing interest in merging the computational and cognitive concepts to improve the solution of structural health monitoring (SHM). The main object of this research is to apply the human-machine cooperative approach on a tower structure to detect damage. The cooperation approach includes haptic tools to create an appropriate collaboration between SHM sensor networks, statistical compression techniques and humans. Damage simulation in the structure is conducted by releasing some of the bolt loads. Accelerometers are bonded to various locations of the tower members to acquire the dynamic response of the structure. The obtained accelerometer results are encoded in three different ways to represent them as a haptic stimulus for the human subjects. Then, the participants are subjected to each of these stimuli to detect the bolt loosened damage in the tower. Results obtained from the human-machine cooperation demonstrate that the human subjects were able to recognize the damage with an accuracy of 88 ± 20.21% and response time of 5.87 ± 2.33 s. As a result, it is concluded that the currently developed human-machine cooperation SHM may provide a useful framework to interact with abstract entities such as data from a sensor network.

Simple display system of mechanical properties of cells and their dispersion.

PubMed

Shimizu, Yuji; Kihara, Takanori; Haghparast, Seyed Mohammad Ali; Yuba, Shunsuke; Miyake, Jun

2012-01-01

The mechanical properties of cells are unique indicators of their states and functions. Though, it is difficult to recognize the degrees of mechanical properties, due to small size of the cell and broad distribution of the mechanical properties. Here, we developed a simple virtual reality system for presenting the mechanical properties of cells and their dispersion using a haptic device and a PC. This system simulates atomic force microscopy (AFM) nanoindentation experiments for floating cells in virtual environments. An operator can virtually position the AFM spherical probe over a round cell with the haptic handle on the PC monitor and feel the force interaction. The Young's modulus of mesenchymal stem cells and HEK293 cells in the floating state was measured by AFM. The distribution of the Young's modulus of these cells was broad, and the distribution complied with a log-normal pattern. To represent the mechanical properties together with the cell variance, we used log-normal distribution-dependent random number determined by the mode and variance values of the Young's modulus of these cells. The represented Young's modulus was determined for each touching event of the probe surface and the cell object, and the haptic device-generating force was calculated using a Hertz model corresponding to the indentation depth and the fixed Young's modulus value. Using this system, we can feel the mechanical properties and their dispersion in each cell type in real time. This system will help us not only recognize the degrees of mechanical properties of diverse cells but also share them with others.

Simple Display System of Mechanical Properties of Cells and Their Dispersion

PubMed Central

Shimizu, Yuji; Kihara, Takanori; Haghparast, Seyed Mohammad Ali; Yuba, Shunsuke; Miyake, Jun

2012-01-01

The mechanical properties of cells are unique indicators of their states and functions. Though, it is difficult to recognize the degrees of mechanical properties, due to small size of the cell and broad distribution of the mechanical properties. Here, we developed a simple virtual reality system for presenting the mechanical properties of cells and their dispersion using a haptic device and a PC. This system simulates atomic force microscopy (AFM) nanoindentation experiments for floating cells in virtual environments. An operator can virtually position the AFM spherical probe over a round cell with the haptic handle on the PC monitor and feel the force interaction. The Young's modulus of mesenchymal stem cells and HEK293 cells in the floating state was measured by AFM. The distribution of the Young's modulus of these cells was broad, and the distribution complied with a log-normal pattern. To represent the mechanical properties together with the cell variance, we used log-normal distribution-dependent random number determined by the mode and variance values of the Young's modulus of these cells. The represented Young's modulus was determined for each touching event of the probe surface and the cell object, and the haptic device-generating force was calculated using a Hertz model corresponding to the indentation depth and the fixed Young's modulus value. Using this system, we can feel the mechanical properties and their dispersion in each cell type in real time. This system will help us not only recognize the degrees of mechanical properties of diverse cells but also share them with others. PMID:22479595

Prototype tactile feedback system for examination by skin touch.

PubMed

Lee, O; Lee, K; Oh, C; Kim, K; Kim, M

2014-08-01

Diagnosis of conditions such as psoriasis and atopic dermatitis, in the case of induration, involves palpating the infected area via hands and then selecting a ratings score. However, the score is determined based on the tester's experience and standards, making it subjective. To provide tactile feedback on the skin, we developed a prototype tactile feedback system to simulate skin wrinkles with PHANToM OMNI. To provide the user with tactile feedback on skin wrinkles, a visual and haptic Augmented Reality system was developed. First, a pair of stereo skin images obtained by a stereo camera generates a disparity map of skin wrinkles. Second, the generated disparity map is sent to an implemented tactile rendering algorithm that computes a reaction force according to the user's interaction with the skin image. We first obtained a stereo image of skin wrinkles from the in vivo stereo imaging system, which has a baseline of 50.8 μm, and obtained the disparity map with a graph cuts algorithm. The left image is displayed on the monitor to enable the user to recognize the location visually. The disparity map of the skin wrinkle image sends skin wrinkle information as a tactile response to the user through a haptic device. We successfully developed a tactile feedback system for virtual skin wrinkle simulation by means of a commercialized haptic device that provides the user with a single point of contact to feel the surface roughness of a virtual skin sample. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Identification of arsenobetaine in sole, lemon sole, flounder, dab, crab and shrimps by field desorption and fast atom bombardment mass spectrometry

DOE Office of Scientific and Technical Information (OSTI.GOV)

Luten, J.B.; Riekwel-Booy, G.; Greef, M.C.

1983-01-01

Organo-arsenic has been isolated from sole, lemon sole, flounder, dab, crab and shrimps by extraction or ion-exchange in combination with thin-layer chromatography. An alkaline digestion of the samples, followed by a reduction with sodiumborohydride leads to the formation of trimethylarsine. Field desorption mass spectrometry (FDMS) can be used to identify arsenobetaine in the isolates. Sufficient purification by thin-layer chromatography is found to be a prerequisite for the detection of a protonated molecular ion of arsenobetaine. If this situation is not met acid enchanced FDMS or Fast Atom Bombardment mass spectrometry in high resolution can be used successfully.

Haudenosaunee Territory for Consultation Purposes (EPA.TRIBCONSULTBND_R2)

EPA Pesticide Factsheets

Layer for displaying areas in New York State that are of interest to Region 2 Haudenosaunee tribes for consultation on environmental issues. The boundaries are based on a hard copy map provided by Janice Whitney of R2/DEPP. See the following URLs for scans of source maps: http://r2quickplace1.r02.epa.gov/QuickPlace/r2gis/Main.nsf/$defaultview/50AA19DAB434F06685257154004F8180/$File/morgan-map.gif?OpenElementhttp://r2quickplace1.r02.epa.gov/QuickPlace/r2gis/Main.nsf/$defaultview/50AA19DAB434F06685257154004F8180/$File/indiannation_land_claim_areas_time_life.jpg?OpenElement

Toxicant Formation in Dabbing: The Terpene Story

PubMed Central

2017-01-01

Inhalable, noncombustible cannabis products are playing a central role in the expansion of the medical and recreational use of cannabis. In particular, the practice of “dabbing” with butane hash oil has emerged with great popularity in states that have legalized cannabis. Despite their growing popularity, the degradation product profiles of these new products have not been extensively investigated. The study herein focuses on the chemistry of myrcene and other common terpenes found in cannabis extracts. Methacrolein, benzene, and several other products of concern to human health were formed under the conditions that simulated real-world dabbing. The terpene degradation products observed are consistent with those reported in the atmospheric chemistry literature. PMID:28983528

Sharing control between humans and automation using haptic interface: primary and secondary task performance benefits.

PubMed

Griffiths, Paul G; Gillespie, R Brent

2005-01-01

This paper describes a paradigm for human/automation control sharing in which the automation acts through a motor coupled to a machine's manual control interface. The manual interface becomes a haptic display, continually informing the human about automation actions. While monitoring by feel, users may choose either to conform to the automation or override it and express their own control intentions. This paper's objective is to demonstrate that adding automation through haptic display can be used not only to improve performance on a primary task but also to reduce perceptual demands or free attention for a secondary task. Results are presented from three experiments in which 11 participants completed a lane-following task using a motorized steering wheel on a fixed-base driving simulator. The automation behaved like a copilot, assisting with lane following by applying torques to the steering wheel. Results indicate that haptic assist improves lane following by least 30%, p < .0001, while reducing visual demand by 29%, p < .0001, or improving reaction time in a secondary tone localization task by 18 ms, p = .0009. Potential applications of this research include the design of automation interfaces based on haptics that support human/automation control sharing better than traditional push-button automation interfaces.

A predictive bone drilling force model for haptic rendering with experimental validation using fresh cadaveric bone.

PubMed

Lin, Yanping; Chen, Huajiang; Yu, Dedong; Zhang, Ying; Yuan, Wen

2017-01-01

Bone drilling simulators with virtual and haptic feedback provide a safe, cost-effective and repeatable alternative to traditional surgical training methods. To develop such a simulator, accurate haptic rendering based on a force model is required to feedback bone drilling forces based on user input. Current predictive bone drilling force models based on bovine bones with various drilling conditions and parameters are not representative of the bone drilling process in bone surgery. The objective of this study was to provide a bone drilling force model for haptic rendering based on calibration and validation experiments in fresh cadaveric bones with different bone densities. Using a commonly used drill bit geometry (2 mm diameter), feed rates (20-60 mm/min) and spindle speeds (4000-6000 rpm) in orthognathic surgeries, the bone drilling forces of specimens from two groups were measured and the calibration coefficients of the specific normal and frictional pressures were determined. The comparison of the predicted forces and the measured forces from validation experiments with a large range of feed rates and spindle speeds demonstrates that the proposed bone drilling forces can predict the trends and average forces well. The presented bone drilling force model can be used for haptic rendering in surgical simulators.

Figure/Ground Segmentation via a Haptic Glance: Attributing Initial Finger Contacts to Objects or Their Supporting Surfaces.

PubMed

Pawluk, D; Kitada, R; Abramowicz, A; Hamilton, C; Lederman, S J

2011-01-01

The current study addresses the well-known "figure/ground" problem in human perception, a fundamental topic that has received surprisingly little attention from touch scientists to date. Our approach is grounded in, and directly guided by, current knowledge concerning the nature of haptic processing. Given inherent figure/ground ambiguity in natural scenes and limited sensory inputs from first contact (a "haptic glance"), we consider first whether people are even capable of differentiating figure from ground (Experiments 1 and 2). Participants were required to estimate the strength of their subjective impression that they were feeling an object (i.e., figure) as opposed to just the supporting structure (i.e., ground). Second, we propose a tripartite factor classification scheme to further assess the influence of kinetic, geometric (Experiments 1 and 2), and material (Experiment 2) factors on haptic figure/ground segmentation, complemented by more open-ended subjective responses obtained at the end of the experiment. Collectively, the results indicate that under certain conditions it is possible to segment figure from ground via a single haptic glance with a reasonable degree of certainty, and that all three factor classes influence the estimated likelihood that brief, spatially distributed fingertip contacts represent contact with an object and/or its background supporting structure.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

PubMed Central

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

2017-01-01

Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

Improved PMMA single-piece haptic materials

NASA Astrophysics Data System (ADS)

Healy, Donald D.; Wilcox, Christopher D.

1991-12-01

During the past fifteen years, Intraocular lens (IOL) haptic preferences have shifted from a variety of multi-piece haptic materials to single-piece PMMA. This is due in part to the research of David Apple, M.D., and other who have suggested that All-PMMA implants result in reduced cell flare and better centration. Consequently, single-piece IOLs now represent 45% of all IOL implants. However, many surgeons regard single-piece IOL designs as nonflexible and more difficult to implant than multipiece IOLs. These handling characteristics have slowed the shift from multi-piece to single-piece IOLs. As a result of these handling characteristics, single-piece lenses experience relatively high breakage rates because of handling before insertion and during insertion. To improve these characteristics, manufacturers have refined single-piece IOL haptic designs by pushing the limits of PMMA's physical properties. Furthermore, IOL manufacturers have begun to alter the material itself to change its physical properties. In particular, two new PMMA materials have emerged in the marketplace: Flexeon trademark, a crosslinked polymer and CM trademark, a material with molecularly realigned PMMA. This paper examines three specific measurements of a haptic's strength and flexibility: tensile strength, plastic memory and material plasticity/elasticity. The paper compares with Flexeon trademark and CM trademark lenses to noncrosslinked one-piece lenses and standard polypropylene multi-piece lenses.

Discriminating Tissue Stiffness with a Haptic Catheter: Feeling the Inside of the Beating Heart.

PubMed

Kesner, Samuel B; Howe, Robert D

2011-01-01

Catheter devices allow physicians to access the inside of the human body easily and painlessly through natural orifices and vessels. Although catheters allow for the delivery of fluids and drugs, the deployment of devices, and the acquisition of the measurements, they do not allow clinicians to assess the physical properties of tissue inside the body due to the tissue motion and transmission limitations of the catheter devices, including compliance, friction, and backlash. The goal of this research is to increase the tactile information available to physicians during catheter procedures by providing haptic feedback during palpation procedures. To accomplish this goal, we have developed the first motion compensated actuated catheter system that enables haptic perception of fast moving tissue structures. The actuated catheter is instrumented with a distal tip force sensor and a force feedback interface that allows users to adjust the position of the catheter while experiencing the forces on the catheter tip. The efficacy of this device and interface is evaluated through a psychophyisical study comparing how accurately users can differentiate various materials attached to a cardiac motion simulator using the haptic device and a conventional manual catheter. The results demonstrate that haptics improves a user's ability to differentiate material properties and decreases the total number of errors by 50% over the manual catheter system.

Palpation imaging using a haptic system for virtual reality applications in medicine.

PubMed

Khaled, W; Reichling, S; Bruhns, O T; Boese, H; Baumann, M; Monkman, G; Egersdoerfer, S; Klein, D; Tunayar, A; Freimuth, H; Lorenz, A; Pessavento, A; Ermert, H

2004-01-01

In the field of medical diagnosis, there is a strong need to determine mechanical properties of biological tissue, which are of histological and pathological relevance. Malignant tumors are significantly stiffer than surrounding healthy tissue. One of the established diagnosis procedures is the palpation of body organs and tissue. Palpation is used to measure swelling, detect bone fracture, find and measure pulse, or to locate changes in the pathological state of tissue and organs. Current medical practice routinely uses sophisticated diagnostic tests through magnetic resonance imaging (MRI), computed tomography (CT) and ultrasound (US) imaging. However, they cannot provide direct measure of tissue elasticity. Last year we presented the concept of the first haptic sensor actuator system to visualize and reconstruct mechanical properties of tissue using ultrasonic elastography and a haptic display with electrorheological fluids. We developed a real time strain imaging system for tumor diagnosis. It allows biopsies simultaneously to conventional ultrasound B-Mode and strain imaging investigations. We deduce the relative mechanical properties by using finite element simulations and numerical solution models solving the inverse problem. Various modifications on the haptic sensor actuator system have been investigated. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching and telecommunication.

An experimental study on CHVE's performance evaluation.

PubMed

Paiva, Paulo V F; Machado, Liliane S; Oliveira, Jauvane C

2012-01-01

Virtual reality-based training simulators, with collaborative capabilities, are known to improve the way users interact with one another while learning or improving skills on a given medical procedure. Performance evaluation of Collaborative Haptic Virtual Environments (CHVE) allows us to understand how such systems can work in the Internet, as well as the requirements for multisensorial and real-time data. This work discloses new performance evaluation results for the collaborative module of the CyberMed VR framework.

Haptic feedback for virtual assembly

NASA Astrophysics Data System (ADS)

Luecke, Greg R.; Zafer, Naci

1998-12-01

Assembly operations require high speed and precision with low cost. The manufacturing industry has recently turned attenuation to the possibility of investigating assembly procedures using graphical display of CAD parts. For these tasks, some sort of feedback to the person is invaluable in providing a real sense of interaction with virtual parts. This research develops the use of a commercial assembly robot as the haptic display in such tasks. For demonstration, a peg-hole insertion task is studied. Kane's Method is employed to derive the dynamics of the peg and the contact motions between the peg and the hole. A handle modeled as a cylindrical peg is attached to the end effector of a PUMA 560 robotic arm. The arm is handle modeled as a cylindrical peg is attached to the end effector of a PUMA 560 robotic arm. The arm is equipped with a six axis force/torque transducer. The use grabs the handle and the user-applied forces are recorded. A 300 MHz Pentium computer is used to simulate the dynamics of the virtual peg and its interactions as it is inserted in the virtual hole. The computed torque control is then employed to exert the full dynamics of the task to the user hand. Visual feedback is also incorporated to help the user in the process of inserting the peg into the hole. Experimental results are presented to show several contact configurations for this virtually simulated task.

A rapid hydrolysis method and DABS-Cl derivatization for complete amino acid analysis of octreotide acetate by reversed phase HPLC.

PubMed

Akhlaghi, Yousef; Ghaffari, Solmaz; Attar, Hossein; Alamir Hoor, Amir

2015-11-01

Octreotide as a synthetic cyclic octapeptide is a somatostatin analog with longer half-life and more selectivity for inhibition of the growth hormone. The acetate salt of octreotide is currently used for medical treatment of somatostatin-related disorders such as endocrine and carcinoid tumors, acromegaly, and gigantism. Octreotide contains both cysteine and tryptophan residues which make the hydrolysis part of its amino acid analysis procedure very challenging. The current paper introduces a fast and additive-free method which preserves tryptophan and cysteine residues during the hydrolysis. Using only 6 M HCl, this hydrolysis process is completed in 30 min at 150 °C. This fast hydrolysis method followed by pre-column derivatization of the released amino acids with 4-N,N-dimethylaminoazobenzene-4'-sulfonyl chloride (DABS-Cl) which takes only 20 min, makes it possible to do the complete amino acid analysis of an octreotide sample in a few hours. The highly stable-colored DABS-Cl derivatives can be detected in 436 nm in a reversed phase chromatographic system, which eliminates spectral interferences to a great extent. The amino acid analysis of octreotide acetate including hydrolysis, derivatization, and reversed phase HPLC determination was validated according to International Conference of Harmonization (ICH) guidelines.

MHC class II diversity of koala (Phascolarctos cinereus) populations across their range

PubMed Central

Lau, Q; Jaratlerdsiri, W; Griffith, J E; Gongora, J; Higgins, D P

2014-01-01

Major histocompatibility complex class II (MHCII) genes code for proteins that bind and present antigenic peptides and trigger the adaptive immune response. We present a broad geographical study of MHCII DA β1 (DAB) and DB β1 (DBB) variants of the koala (Phascolarctos cinereus; n=191) from 12 populations across eastern Australia, with a total of 13 DAB and 7 DBB variants found. We identified greater MHCII variation and, possibly, additional gene copies in koala populations in the north (Queensland and New South Wales) relative to the south (Victoria), confirmed by STRUCTURE analyses and genetic differentiation using analysis of molecular variance. The higher MHCII diversity in the north relative to south could potentially be attributed to (i) significant founder effect in Victorian populations linked to historical translocation of bottlenecked koala populations and (ii) increased pathogen-driven balancing selection and/or local genetic drift in the north. Low MHCII genetic diversity in koalas from the south could reduce their potential response to disease, although the three DAB variants found in the south had substantial sequence divergence between variants. This study assessing MHCII diversity in the koala with historical translocations in some populations contributes to understanding the effects of population translocations on functional genetic diversity. PMID:24690756

Bio-production of Baccatin III, an Important Precursor of Paclitaxel by a Cost-Effective Approach.

PubMed

Lin, Shu-Ling; Wei, Tao; Lin, Jun-Fang; Guo, Li-Qiong; Wu, Guang-Pei; Wei, Jun-Bin; Huang, Jia-Jun; Ouyang, Ping-Lan

2018-07-01

Natural production of anti-cancer drug taxol from Taxus has proved to be environmentally unsustainable and economically unfeasible. Currently, bioengineering the biosynthetic pathway of taxol is an attractive alternative production approach. 10-deacetylbaccatin III-10-O-acetyl transferase (DBAT) was previously characterized as an acyltransferase, using 10-deacetylbaccatin III (10-DAB) and acetyl CoA as natural substrates, to form baccatin III in the taxol biosynthesis. Here, we report that other than the natural acetyl CoA (Ac-CoA) substrate, DBAT can also utilize vinyl acetate (VA), which is commercially available at very low cost, acylate quickly and irreversibly, as acetyl donor in the acyl transfer reaction to produce baccatin III. Furthermore, mutants were prepared via a semi-rational design in this work. A double mutant, I43S/D390R was constructed to combine the positive effects of the different single mutations on catalytic activity, and its catalytic efficiency towards 10-DAB and VA was successfully improved by 3.30-fold, compared to that of wild-type DBAT, while 2.99-fold higher than the catalytic efficiency of WT DBAT towards 10-DAB and Ac-CoA. These findings can provide a promising economically and environmentally friendly method for exploring novel acyl donors to engineer natural product pathways.

Role of multisensory stimuli in vigilance enhancement- a single trial event related potential study.

PubMed

Abbasi, Nida Itrat; Bodala, Indu Prasad; Bezerianos, Anastasios; Yu Sun; Al-Nashash, Hasan; Thakor, Nitish V

2017-07-01

Development of interventions to prevent vigilance decrement has important applications in sensitive areas like transportation and defence. The objective of this work is to use multisensory (visual and haptic) stimuli for cognitive enhancement during mundane tasks. Two different epoch intervals representing sensory perception and motor response were analysed using minimum variance distortionless response (MVDR) based single trial ERP estimation to understand the performance dependency on both factors. Bereitschaftspotential (BP) latency L3 (r=0.6 in phase 1 (visual) and r=0.71 in phase 2 (visual and haptic)) was significantly correlated with reaction time as compared to that of sensory ERP latency L2 (r=0.1 in both phase 1 and phase 2). This implies that low performance in monotonous tasks is predominantly dependent on the prolonged neural interaction with the muscles to initiate movement. Further, negative relationship was found between the ERP latencies related to sensory perception and Bereitschaftspotential (BP) and occurrence of epochs when multisensory cues are provided. This means that vigilance decrement is reduced with the help of multisensory stimulus presentation in prolonged monotonous tasks.

Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise; part II: control development and testing.

PubMed

Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Neidhard-Doll, Amy T

2015-01-01

Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. The controller, based on an inverse three-element phenomenological model and adaptive nonlinear control, allows the system to operate as a type of haptic device. A human quadriceps dynamic simulator was developed (as described in Part I of this work) so that control effectiveness and accommodation could be tested prior to human implementation. Tracking error results indicate that the control system is effective at producing PMA displacement and resistance necessary for a scaled, simulated neuromuscular actuator to maintain low-velocity isokinetic movement during simulated concentric and eccentric knee extension.

Feeling form: the neural basis of haptic shape perception.

PubMed

Yau, Jeffrey M; Kim, Sung Soo; Thakur, Pramodsingh H; Bensmaia, Sliman J

2016-02-01

The tactile perception of the shape of objects critically guides our ability to interact with them. In this review, we describe how shape information is processed as it ascends the somatosensory neuraxis of primates. At the somatosensory periphery, spatial form is represented in the spatial patterns of activation evoked across populations of mechanoreceptive afferents. In the cerebral cortex, neurons respond selectively to particular spatial features, like orientation and curvature. While feature selectivity of neurons in the earlier processing stages can be understood in terms of linear receptive field models, higher order somatosensory neurons exhibit nonlinear response properties that result in tuning for more complex geometrical features. In fact, tactile shape processing bears remarkable analogies to its visual counterpart and the two may rely on shared neural circuitry. Furthermore, one of the unique aspects of primate somatosensation is that it contains a deformable sensory sheet. Because the relative positions of cutaneous mechanoreceptors depend on the conformation of the hand, the haptic perception of three-dimensional objects requires the integration of cutaneous and proprioceptive signals, an integration that is observed throughout somatosensory cortex. Copyright © 2016 the American Physiological Society.

77 FR 15390 - Certain Mobile Electronic Devices Incorporating Haptics; Receipt of Amended Complaint...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-15

... INTERNATIONAL TRADE COMMISSION [DN 2875] Certain Mobile Electronic Devices Incorporating Haptics.... International Trade Commission. ACTION: Notice. SUMMARY: Notice is hereby given that the U.S. International Trade Commission has received an amended complaint entitled Certain Mobile Electronic Devices...

Validation of simple and cost-effective stains to assess acrosomal status, DNA damage and mitochondrial activity in rooster spermatozoa.

PubMed

Rui, Bruno R; Angrimani, Daniel S R; Losano, João Diego A; Bicudo, Luana de Cássia; Nichi, Marcílio; Pereira, Ricardo J G

2017-12-01

Several methods have been developed to evaluate spermatozoa function in birds but many of these are sometimes complicated, costly and not applicable to field studies (i.e., performed within poultry breeding facilities). The objective was, therefore, to validate efficient, practical and inexpensive procedures to determine DNA fragmentation, acrosomal integrity, and mitochondrial activity in poultry spermatozoa. Initially, ejaculates were individually diluted and divided into control (4°C, 4h) and UV-irradiated aliquots (room temperature, 4h), and then samples containing different percentages of DNA-damaged spermatozoa (0%, 25%, 50%, 75% and 100%) were subjected to Toluidine Blue (TB) and Sperm Chromatin Dispersion assessments (SCD). Fast Green-Rose Bengal (FG-RB) and FITC-PSA staining protocols were subsequently used to assess acrosome status in aliquots comprising assorted amounts of acrosome-reacted spermatozoa. Furthermore, to validate 3,3'-diaminobenzidine (DAB) assay, ejaculates containing different gradients of spermatozoa with great amounts of mitochondrial activity were concurrently evaluated using DAB and JC-1 stains. The proportion of spermatozoa with abnormal DNA integrity when evaluated using the TB assessment correlated significantly with the expected percentages of UV-irradiated spermatozoa and with SCD results. A significant linear regression coefficient was also observed between expected amounts of acrosome-intact spermatozoa and FG-RB readings, and there was a significant correlation of the data when FG-RB and FITC-PSA were used. Likewise, the use of the DAB assay enabled for accurately ascertaining percentages of rooster spermatozoa with greater and lesser mitochondrial function, and results were highly correlated to results with staining with JC-1. Altogether, findings of the present study indicate acrosomal status, DNA integrity and mitochondrial activity in rooster spermatozoa can be easily and reliably determined using FG-RB, TB and DAB stains. Copyright © 2017 Elsevier B.V. All rights reserved.

Genomic Porosity between Invasive Chondrostoma nasus and Endangered Endemic Parachondrostoma toxostoma (Cyprinidae): The Evolution of MHC IIB Genes

PubMed Central

Šimková, Andrea; Civáňová, Kristína; Gettová, Lenka; Gilles, André

2013-01-01

Two cyprinid species, Parachondrostoma toxostoma, an endemic threatened species, and Chondrostoma nasus, an invasive species, live in sympatry in southern France and form two sympatric zones where the presence of intergeneric hybrids is reported. To estimate the potential threat to endemic species linked to the introduction of invasive species, we focused on the DAB genes (functional MHC IIB genes) because of their adaptive significance and role in parasite resistance. More specifically, we investigated (1) the variability of MHC IIB genes, (2) the selection pattern shaping MHC polymorphism, and (3) the extent to which trans-species evolution and intergeneric hybridization affect MHC polymorphism. In sympatric areas, the native species has more diversified MHC IIB genes when compared to the invasive species, probably resulting from the different origins and dispersal of both species. A similar level of MHC polymorphism was found at population level in both species, suggesting similar mechanisms generating MHC diversity. In contrast, a higher number of DAB-like alleles per specimen were found in invasive species. Invasive species tended to express the alleles of two DAB lineages, whilst native species tended to express the alleles of only the DAB3 lineage. Hybrids have a pattern of MHC expression intermediate between both species. Whilst positive selection acting on peptide binding sites (PBS) was demonstrated in both species, a slightly higher number of positively selected sites were identified in C. nasus, which could result from parasite-mediated selection. Bayesian clustering analysis revealed a similar pattern of structuring for the genetic variation when using microsatellites or the MHC approach. We confirmed the importance of trans-species evolution for MHC polymorphism. In addition, we demonstrated bidirectional gene flow for MHC IIB genes in sympatric areas. The positive significant correlation between MHC and microsatellites suggests that demographic factors may contribute to MHC variation on a short time scale. PMID:23824831

Investigations on the ORF 167L of lymphocystis disease virus (Iridoviridae).

PubMed

Essbauer, Sandra; Fischer, Uwe; Bergmann, Sven; Ahne, Winfried

2004-01-01

The predicted open reading frame 167L (ORF 167L) of lymphocystis disease virus (LCDV, Iridoviridae ) isolated from plaice, dab and flounder was investigated. The ORF 167L corresponding genes of the three LCDV isolates were amplified, cloned and sequenced. A comparison of the LCDV strains showed that the nucleotide sequence of ORF 167L and its deduced amino acid sequence were highly conserved in the genus lymphocystivirus (a homology of 80% in dab and flounder/plaice, 97% in plaice and flounder). The N-terminus protein predicted from the ORF 167L suggests similarities to the tumor necrosis factor receptor (TNFR)-family, and to TNFR-like proteins, which play an important role in various poxvirus species. Further, homology to the CUB-domain was shown at the C-terminus of the LCDV protein. Phylogenetic analyses of partial LCDV protein sequences identified two clusters: one cluster containing the flounder and plaice LCDV isolate (LCDV-1), and another cluster, containing the dab LCDV isolate (LCDV-2). The ORF 167L of plaice LCDV was expressed in Escherichia coli, and in fish cells. The expressed ORF resulted in a 30-kDa cytoplasmic protein lacking a signal peptide. An established monoclonal antibody (mAb 18) was used to detect LCDV proteins in skin explants of flounders and cryosections of dab skin. Specific fluorescence was found in the cytoplasm of intact epitheloid cells of the lymphocystis capsule and in the epidermis skin covering the lymphocystic nodules. LCDV-specific labelling of mAb 18 was also shown in spleen and liver tissue of LCDV-positive flounders. The ORF 167L protein seemed not to have the extracellular receptor function predicted from the usual cellular TNFR. The myxomavirus M-T2 protein, a poxviral TNFR homologue, was also shown not to have TNFR-like functions but to be involved in the apoptosis signal cascade.

Training Surgical Residents With a Haptic Robotic Central Venous Catheterization Simulator.

PubMed

Pepley, David F; Gordon, Adam B; Yovanoff, Mary A; Mirkin, Katelin A; Miller, Scarlett R; Han, David C; Moore, Jason Z

Ultrasound guided central venous catheterization (CVC) is a common surgical procedure with complication rates ranging from 5 to 21 percent. Training is typically performed using manikins that do not simulate anatomical variations such as obesity and abnormal vessel positioning. The goal of this study was to develop and validate the effectiveness of a new virtual reality and force haptic based simulation platform for CVC of the right internal jugular vein. A CVC simulation platform was developed using a haptic robotic arm, 3D position tracker, and computer visualization. The haptic robotic arm simulated needle insertion force that was based on cadaver experiments. The 3D position tracker was used as a mock ultrasound device with realistic visualization on a computer screen. Upon completion of a practice simulation, performance feedback is given to the user through a graphical user interface including scoring factors based on good CVC practice. The effectiveness of the system was evaluated by training 13 first year surgical residents using the virtual reality haptic based training system over a 3 month period. The participants' performance increased from 52% to 96% on the baseline training scenario, approaching the average score of an expert surgeon: 98%. This also resulted in improvement in positive CVC practices including a 61% decrease between final needle tip position and vein center, a decrease in mean insertion attempts from 1.92 to 1.23, and a 12% increase in time spent aspirating the syringe throughout the procedure. A virtual reality haptic robotic simulator for CVC was successfully developed. Surgical residents training on the simulation improved to near expert levels after three robotic training sessions. This suggests that this system could act as an effective training device for CVC. Copyright © 2017 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

Effects of visual information regarding allocentric processing in haptic parallelity matching.

PubMed

Van Mier, Hanneke I

2013-10-01

Research has revealed that haptic perception of parallelity deviates from physical reality. Large and systematic deviations have been found in haptic parallelity matching most likely due to the influence of the hand-centered egocentric reference frame. Providing information that increases the influence of allocentric processing has been shown to improve performance on haptic matching. In this study allocentric processing was stimulated by providing informative vision in haptic matching tasks that were performed using hand- and arm-centered reference frames. Twenty blindfolded participants (ten men, ten women) explored the orientation of a reference bar with the non-dominant hand and subsequently matched (task HP) or mirrored (task HM) its orientation on a test bar with the dominant hand. Visual information was provided by means of informative vision with participants having full view of the test bar, while the reference bar was blocked from their view (task VHP). To decrease the egocentric bias of the hands, participants also performed a visual haptic parallelity drawing task (task VHPD) using an arm-centered reference frame, by drawing the orientation of the reference bar. In all tasks, the distance between and orientation of the bars were manipulated. A significant effect of task was found; performance improved from task HP, to VHP to VHPD, and HM. Significant effects of distance were found in the first three tasks, whereas orientation and gender effects were only significant in tasks HP and VHP. The results showed that stimulating allocentric processing by means of informative vision and reducing the egocentric bias by using an arm-centered reference frame led to most accurate performance on parallelity matching. © 2013 Elsevier B.V. All rights reserved.

Robot-Assisted Proprioceptive Training with Added Vibro-Tactile Feedback Enhances Somatosensory and Motor Performance.

PubMed

Cuppone, Anna Vera; Squeri, Valentina; Semprini, Marianna; Masia, Lorenzo; Konczak, Jürgen

2016-01-01

This study examined the trainability of the proprioceptive sense and explored the relationship between proprioception and motor learning. With vision blocked, human learners had to perform goal-directed wrist movements relying solely on proprioceptive/haptic cues to reach several haptically specified targets. One group received additional somatosensory movement error feedback in form of vibro-tactile cues applied to the skin of the forearm. We used a haptic robotic device for the wrist and implemented a 3-day training regimen that required learners to make spatially precise goal-directed wrist reaching movements without vision. We assessed whether training improved the acuity of the wrist joint position sense. In addition, we checked if sensory learning generalized to the motor domain and improved spatial precision of wrist tracking movements that were not trained. The main findings of the study are: First, proprioceptive acuity of the wrist joint position sense improved after training for the group that received the combined proprioceptive/haptic and vibro-tactile feedback (VTF). Second, training had no impact on the spatial accuracy of the untrained tracking task. However, learners who had received VTF significantly reduced their reliance on haptic guidance feedback when performing the untrained motor task. That is, concurrent VTF was highly salient movement feedback and obviated the need for haptic feedback. Third, VTF can be also provided by the limb not involved in the task. Learners who received VTF to the contralateral limb equally benefitted. In conclusion, somatosensory training can significantly enhance proprioceptive acuity within days when learning is coupled with vibro-tactile sensory cues that provide feedback about movement errors. The observable sensory improvements in proprioception facilitates motor learning and such learning may generalize to the sensorimotor control of the untrained motor tasks. The implications of these findings for neurorehabilitation are discussed.

Collaborative voxel-based surgical virtual environments.

PubMed

Acosta, Eric; Muniz, Gilbert; Armonda, Rocco; Bowyer, Mark; Liu, Alan

2008-01-01

Virtual Reality-based surgical simulators can utilize Collaborative Virtual Environments (C-VEs) to provide team-based training. To support real-time interactions, C-VEs are typically replicated on each user's local computer and a synchronization method helps keep all local copies consistent. This approach does not work well for voxel-based C-VEs since large and frequent volumetric updates make synchronization difficult. This paper describes a method that allows multiple users to interact within a voxel-based C-VE for a craniotomy simulator being developed. Our C-VE method requires smaller update sizes and provides faster synchronization update rates than volumetric-based methods. Additionally, we address network bandwidth/latency issues to simulate networked haptic and bone drilling tool interactions with a voxel-based skull C-VE.

A Fully Immersive Set-Up for Remote Interaction and Neurorehabilitation Based on Virtual Body Ownership

PubMed Central

Perez-Marcos, Daniel; Solazzi, Massimiliano; Steptoe, William; Oyekoya, Oyewole; Frisoli, Antonio; Weyrich, Tim; Steed, Anthony; Tecchia, Franco; Slater, Mel; Sanchez-Vives, Maria V.

2012-01-01

Although telerehabilitation systems represent one of the most technologically appealing clinical solutions for the immediate future, they still present limitations that prevent their standardization. Here we propose an integrated approach that includes three key and novel factors: (a) fully immersive virtual environments, including virtual body representation and ownership; (b) multimodal interaction with remote people and virtual objects including haptic interaction; and (c) a physical representation of the patient at the hospital through embodiment agents (e.g., as a physical robot). The importance of secure and rapid communication between the nodes is also stressed and an example implemented solution is described. Finally, we discuss the proposed approach with reference to the existing literature and systems. PMID:22787454

Embodied social interaction constitutes social cognition in pairs of humans: a minimalist virtual reality experiment.

PubMed

Froese, Tom; Iizuka, Hiroyuki; Ikegami, Takashi

2014-01-14

Scientists have traditionally limited the mechanisms of social cognition to one brain, but recent approaches claim that interaction also realizes cognitive work. Experiments under constrained virtual settings revealed that interaction dynamics implicitly guide social cognition. Here we show that embodied social interaction can be constitutive of agency detection and of experiencing another's presence. Pairs of participants moved their "avatars" along an invisible virtual line and could make haptic contact with three identical objects, two of which embodied the other's motions, but only one, the other's avatar, also embodied the other's contact sensor and thereby enabled responsive interaction. Co-regulated interactions were significantly correlated with identifications of the other's avatar and reports of the clearest awareness of the other's presence. These results challenge folk psychological notions about the boundaries of mind, but make sense from evolutionary and developmental perspectives: an extendible mind can offload cognitive work into its environment.

Embodied social interaction constitutes social cognition in pairs of humans: A minimalist virtual reality experiment

PubMed Central

Froese, Tom; Iizuka, Hiroyuki; Ikegami, Takashi

2014-01-01

Scientists have traditionally limited the mechanisms of social cognition to one brain, but recent approaches claim that interaction also realizes cognitive work. Experiments under constrained virtual settings revealed that interaction dynamics implicitly guide social cognition. Here we show that embodied social interaction can be constitutive of agency detection and of experiencing another's presence. Pairs of participants moved their “avatars” along an invisible virtual line and could make haptic contact with three identical objects, two of which embodied the other's motions, but only one, the other's avatar, also embodied the other's contact sensor and thereby enabled responsive interaction. Co-regulated interactions were significantly correlated with identifications of the other's avatar and reports of the clearest awareness of the other's presence. These results challenge folk psychological notions about the boundaries of mind, but make sense from evolutionary and developmental perspectives: an extendible mind can offload cognitive work into its environment. PMID:24419102

Using haptic feedback to increase seat belt use of service vehicle drivers.

DOT National Transportation Integrated Search

2011-01-01

This study pilot-tested a new application of a technology-based intervention to increase seat belt use. The technology was based on a : contingency in which unbelted drivers experienced sustained haptic feedback to the gas pedal when they exceeded 25...

Haptic identification of objects and their depictions.

PubMed

Klatzky, R L; Loomis, J M; Lederman, S J; Wake, H; Fujita, N

1993-08-01

Haptic identification of real objects is superior to that of raised two-dimensional (2-D) depictions. Three explanations of real-object superiority were investigated: contribution of material information, contribution of 3-D shape and size, and greater potential for integration across the fingers. In Experiment 1, subjects, while wearing gloves that gently attenuated material information, haptically identified real objects that provided reduced cues to compliance, mass, and part motion. The gloves permitted exploration with free hand movement, a single outstretched finger, or five outstretched fingers. Performance decreased over these three conditions but was superior to identification of pictures of the same objects in all cases, indicating the contribution of 3-D structure and integration across the fingers. Picture performance was also better with five fingers than with one. In Experiment 2, the subjects wore open-fingered gloves, which provided them with material information. Consequently, the effect of type of exploration was substantially reduced but not eliminated. Material compensates somewhat for limited access to object structure but is not the primary basis for haptic object identification.

When vision is not an option: children's integration of auditory and haptic information is suboptimal.

PubMed

Petrini, Karin; Remark, Alicia; Smith, Louise; Nardini, Marko

2014-05-01

When visual information is available, human adults, but not children, have been shown to reduce sensory uncertainty by taking a weighted average of sensory cues. In the absence of reliable visual information (e.g. extremely dark environment, visual disorders), the use of other information is vital. Here we ask how humans combine haptic and auditory information from childhood. In the first experiment, adults and children aged 5 to 11 years judged the relative sizes of two objects in auditory, haptic, and non-conflicting bimodal conditions. In , different groups of adults and children were tested in non-conflicting and conflicting bimodal conditions. In , adults reduced sensory uncertainty by integrating the cues optimally, while children did not. In , adults and children used similar weighting strategies to solve audio-haptic conflict. These results suggest that, in the absence of visual information, optimal integration of cues for discrimination of object size develops late in childhood. © 2014 The Authors. Developmental Science Published by John Wiley & Sons Ltd.

Functional Equivalence of Spatial Images from Touch and Vision: Evidence from Spatial Updating in Blind and Sighted Individuals

PubMed Central

Giudice, Nicholas A.; Betty, Maryann R.; Loomis, Jack M.

2012-01-01

This research examines whether visual and haptic map learning yield functionally equivalent spatial images in working memory, as evidenced by similar encoding bias and updating performance. In three experiments, participants learned four-point routes either by seeing or feeling the maps. At test, blindfolded participants made spatial judgments about the maps from imagined perspectives that were either aligned or misaligned with the maps as represented in working memory. Results from Experiments 1 and 2 revealed a highly similar pattern of latencies and errors between visual and haptic conditions. These findings extend the well known alignment biases for visual map learning to haptic map learning, provide further evidence of haptic updating, and most importantly, show that learning from the two modalities yields very similar performance across all conditions. Experiment 3 found the same encoding biases and updating performance with blind individuals, demonstrating that functional equivalence cannot be due to visual recoding and is consistent with an amodal hypothesis of spatial images. PMID:21299331

Influence of surgical gloves on haptic perception thresholds.

PubMed

Hatzfeld, Christian; Dorsch, Sarah; Neupert, Carsten; Kupnik, Mario

2018-02-01

Impairment of haptic perception by surgical gloves could reduce requirements on haptic systems for surgery. While grip forces and manipulation capabilities were not impaired in previous studies, no data is available for perception thresholds. Absolute and differential thresholds (20 dB above threshold) of 24 subjects were measured for frequencies of 25 and 250 Hz with a Ψ-method. Effects of wearing a surgical glove, moisture on the contact surface and subject's experience with gloves were incorporated in a full-factorial experimental design. Absolute thresholds of 12.8 dB and -29.6 dB (means for 25 and 250 Hz, respectively) and differential thresholds of -12.6 dB and -9.5 dB agree with previous studies. A relevant effect of the frequency on absolute thresholds was found. Comparisons of glove- and no-glove-conditions did not reveal a significant mean difference. Wearing a single surgical glove does not affect absolute and differential haptic perception thresholds. Copyright © 2017 John Wiley & Sons, Ltd.

A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

PubMed Central

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-01-01

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor. PMID:23202012