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Identification of Haptic Based Guiding Using Hard Reins.

ABSTRACT: This paper presents identifications of human-human interaction in which one person with limited auditory and visual perception of the environment (a follower) is guided by an agent with full perceptual capabilities (a guider) via a hard rein along a given path. We investigate several identifications of the interaction between the guider and the follower such as computational models that map states of the follower to actions of the guider and the computational basis of the guider to modulate the force on the rein in response to the trust level of the follower. Based on experimental identification systems on human demonstrations show that the guider and the follower experience learning for an optimal stable state-dependent novel 3rd and 2nd order auto-regressive predictive and reactive control policies respectively. By modeling the follower's dynamics using a time varying virtual damped inertial system, we found that the coefficient of virtual damping is most appropriate to explain the trust level of the follower at any given time. Moreover, we present the stability of the extracted guiding policy when it was implemented on a planar 1-DoF robotic arm. Our findings provide a theoretical basis to design advanced human-robot interaction algorithms applicable to a variety of situations where a human requires the assistance of a robot to perceive the environment.

SUBMITTER: Ranasinghe A

PROVIDER: S-EPMC4511788 | biostudies-literature |

REPOSITORIES: biostudies-literature

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Project description:BackgroundHealthcare-Associated Infections (HAIs) are one of the most frequent complications occurring in healthcare facilities. Contaminated environmental surfaces provide an important potential source for transmission of many healthcare-associated pathogens, thus indicating the need for new and sustainable strategies.AimThis study aims to evaluate the effect of a novel cleaning procedure based on the mechanism of biocontrol, on the presence and survival of several microorganisms responsible for HAIs (i.e. coliforms, Staphyloccus aureus, Clostridium difficile, and Candida albicans) on hard surfaces in a hospital setting.MethodsThe effect of microbial cleaning, containing spores of food grade Bacillus subtilis, Bacillus pumilus and Bacillus megaterium, in comparison with conventional cleaning protocols, was evaluated for 24 weeks in three independent hospitals (one in Belgium and two in Italy) and approximately 20000 microbial surface samples were collected.ResultsMicrobial cleaning, as part of the daily cleaning protocol, resulted in a reduction of HAI-related pathogens by 50 to 89%. This effect was achieved after 3-4 weeks and the reduction in the pathogen load was stable over time. Moreover, by using microbial or conventional cleaning alternatively, we found that this effect was directly related to the new procedure, as indicated by the raise in CFU/m2 when microbial cleaning was replaced by the conventional procedure. Although many questions remain regarding the actual mechanisms involved, this study demonstrates that microbial cleaning is a more effective and sustainable alternative to chemical cleaning and non-specific disinfection in healthcare facilities.ConclusionsThis study indicates microbial cleaning as an effective strategy in continuously lowering the number of HAI-related microorganisms on surfaces. The first indications on the actual level of HAIs in the trial hospitals monitored on a continuous basis are very promising, and may pave the way for a novel and cost-effective strategy to counteract or (bio)control healthcare-associated pathogens.

Project description:This study aims to explore a feasible form of a haptic device for common users. We propose HAPmini, a novel graspable haptic device that enhances the user's touch interaction. To achieve this enhancement, the HAPmini is designed with low mechanical complexity, few actuators, and a simple structure, while still providing force and tactile feedback to users. Despite having a single solenoid-magnet actuator and a simple structure, the HAPmini can provide haptic feedback corresponding to a user's 2-dimensional touch interaction. Based on the force and tactile feedback, the hardware magnetic snap function and virtual texture were developed. The hardware magnetic snap function helped users perform pointing tasks by applying an external force to their fingers to enhance their touch interaction performance. The virtual texture simulated the surface texture of a specific material through vibration and delivered a haptic sensation to users. In this study, five virtual textures (i.e., reproductions of the textures of paper, jean, wood, sandpaper, and cardboard) were designed for HAPmini. Both HAPmini functions were tested in three experiments. First, a comparative experiment was conducted, and it was confirmed that the hardware magnetic snap function could increase the performance of pointing tasks to the same extent as the software magnetic snap function could, which is commonly used in graphical tools. Second, ABX and matching tests were conducted to determine whether HAPmini could generate the five virtual textures, which were designed differently and sufficiently well for the participants to be distinguished from each other. The correctness rates of the ABX and the matching tests were 97.3% and 93.3%, respectively. The results confirmed that the participants could distinguish the virtual textures generated using HAPmini. The experiments indicate that HAPmini enhances the usability of touch interaction (hardware magnetic snap function) and also provides additional texture information that was previously unavailable on the touchscreen (virtual texture).

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Identification of Haptic Based Guiding Using Hard Reins.

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