Browse
Submit Data
Databases
API
Help

Dataset Information

32 Views

0 Connections

0 Citations

0 Reanalyses

0 Downloads

Omics score: 0

Motion Polytopes in Virtual Reality for Shared Control in Remote Manipulation Applications.

ABSTRACT: In remote applications that mandate human supervision, shared control can prove vital by establishing a harmonious balance between the high-level cognition of a user and the low-level autonomy of a robot. Though in practice, achieving this balance is a challenging endeavor that largely depends on whether the operator effectively interprets the underlying shared control. Inspired by recent works on using immersive technologies to expose the internal shared control, we develop a virtual reality system to visually guide human-in-the-loop manipulation. Our implementation of shared control teleoperation employs end effector manipulability polytopes, which are geometrical constructs that embed joint limit and environmental constraints. These constructs capture a holistic view of the constrained manipulator's motion and can thus be visually represented as feedback for users on their operable space of movement. To assess the efficacy of our proposed approach, we consider a teleoperation task where users manipulate a screwdriver attached to a robotic arm's end effector. A pilot study with prospective operators is first conducted to discern which graphical cues and virtual reality setup are most preferable. Feedback from this study informs the final design of our virtual reality system, which is subsequently evaluated in the actual screwdriver teleoperation experiment. Our experimental findings support the utility of using polytopes for shared control teleoperation, but hint at the need for longer-term studies to garner their full benefits as virtual guides.

SUBMITTER: Zolotas M

PROVIDER: S-EPMC8458706 | biostudies-literature |

REPOSITORIES: biostudies-literature

ACCESS DATA

Json Xml

Similar Datasets

Virtual and augmented reality for biomedical applications.

Project description:3D visualization technologies such as virtual reality (VR), augmented reality (AR), and mixed reality (MR) have gained popularity in the recent decade. Digital extended reality (XR) technologies have been adopted in various domains ranging from entertainment to education because of their accessibility and affordability. XR modalities create an immersive experience, enabling 3D visualization of the content without a conventional 2D display constraint. Here, we provide a perspective on XR in current biomedical applications and demonstrate case studies using cell biology concepts, multiplexed proteomics images, surgical data for heart operations, and cardiac 3D models. Emerging challenges associated with XR technologies in the context of adverse health effects and a cost comparison of distinct platforms are discussed. The presented XR platforms will be useful for biomedical education, medical training, surgical guidance, and molecular data visualization to enhance trainees' and students' learning, medical operation accuracy, and the comprehensibility of complex biological systems.

| S-EPMC8324499 | biostudies-literature

The Dominant Role of Visual Motion Cues in Bumblebee Flight Control Revealed Through Virtual Reality.

Project description:Flying bees make extensive use of optic flow: the apparent motion in the visual scene generated by their own movement. Much of what is known about bees' visually-guided flight comes from experiments employing real physical objects, which constrains the types of cues that can be presented. Here we implement a virtual reality system allowing us to create the visual illusion of objects in 3D space. We trained bumblebees, Bombus ignitus, to feed from a static target displayed on the floor of a flight arena, and then observed their responses to various interposing virtual objects. When a virtual floor was presented above the physical floor, bees were reluctant to descend through it, indicating that they perceived the virtual floor as a real surface. To reach a target at ground level, they flew through a hole in a virtual surface above the ground, and around an elevated virtual platform, despite receiving no reward for avoiding the virtual obstacles. These behaviors persisted even when the target was made (unrealistically) visible through the obstructing object. Finally, we challenged the bees with physically impossible ambiguous stimuli, which give conflicting motion and occlusion cues. In such cases, they behaved in accordance with the motion information, seemingly ignoring occlusion.

| S-EPMC6079625 | biostudies-literature

Using Visual Feedback Manipulation in Virtual Reality to Influence Pain-Free Range of Motion in People with Nonspecific Neck Pain.

Project description:BackgroundBased on associative learning theories it is hypothesized that pain might be a conditioned response. In people with musculoskeletal pain, the occurrence of movement-induced pain might be a protective response, influenced by visual cues suggesting that the person is approaching a painful position. This study aimed to determine (1) whether the pain-free range of motion (ROM) increased and decreased when visual feedback understated or overstated true rotation in people with neck pain and (2) whether this effect was more pronounced if pain was chronic.MethodPeople with subacute and chronic nonspecific neck pain wore a VR-headset and rotated their head to the left and right until the onset of pain. Visual feedback about the amount of movement was either equal, 20% less, or 20% greater than their actual rotation. Maximal pain-free ROM was measured using the VR-headset sensors. Data were analyzed using a mixed-design ANOVA.ResultsThere was no effect of visual feedback manipulation on pain-free ROM (P = 0.13) and no interaction effect between the visual feedback condition and duration of pain (P = 0.86).DiscussionThe inability to influence pain-free ROM by manipulating visual feedback in people with subacute or chronic neck pain does not support associative learning theories for the perception of neck pain.

| S-EPMC8048536 | biostudies-literature

Brain-computer interface control in a virtual reality environment and applications for the internet of things.

Project description:Brain-computer interfaces (BCIs) have enabled individuals to control devices such as spellers, robotic arms, drones, and wheelchairs, but often these BCI applications are restricted to research laboratories. With the advent of virtual reality (VR) systems and the internet of things (IoT) we can couple these technologies to offer real-time control of a user's virtual and physical environment. Likewise, BCI applications are often single-use with user's having no control outside of the restrictions placed upon the applications at the time of creation. Therefore, there is a need to create a tool that allows users the flexibility to create and modularize aspects of BCI applications for control of IoT devices and VR environments. Using a popular video game engine, Unity, and coupling it with BCI2000, we can create diverse applications that give the end-user additional autonomy during the task at hand. We demonstrate the validity of controlling a Unity-based VR environment and several commercial IoT devices via direct neural interfacing processed through BCI2000.

| S-EPMC6157750 | biostudies-literature

4T1 mouse tumour single cell dataset for virtual reality exploration

Project description:50,000 cells were injected orthotopically into the inguinal fat pad of a Nod-Scid-Gamma (NSG) immuno-compromised mouse. Injected cells were 80% unlabelled 4T1 cells (parental population), and 20% ZsGreen-labelled 4T1-T cells (clone isolated in Wagenblast et Al, Nature, 2015). Tumour were allowed to develop for 20 days, and then collected during necropsy. Disaggegated cells were processed through the 10X genomics Single Cell 3' gene expression pipeline. This data is intended as an example dataset for a novel virtual reality viewer for single-cell data described in Bressan et Al, Nat. Cancer, 2021 (submitted)

2022-06-14 | GSE178069 | GEO

Enhanced location tracking in sensor fusion-assisted virtual reality micro-manipulation environments.

Project description:Virtual reality (VR) technology plays a significant role in many biomedical applications. These VR scenarios increase the valuable experience of tasks requiring great accuracy with human subjects. Unfortunately, commercial VR controllers have large positioning errors in a micro-manipulation task. Here, we propose a VR-based framework along with a sensor fusion algorithm to improve the microposition tracking performance of a microsurgical tool. To the best of our knowledge, this is the first application of Kalman filter in a millimeter scale VR environment, by using the position data between the VR controller and an inertial measuring device. This study builds and tests two cases: (1) without sensor fusion tracking and (2) location tracking with active sensor fusion. The static and dynamic experiments demonstrate that the Kalman filter can provide greater precision during micro-manipulation in small scale VR scenarios.

| S-EPMC8714085 | biostudies-literature

A virtual reality interface for the immersive manipulation of live microscopic systems.

Project description:For more than three centuries we have been watching and studying microscopic phenomena behind a microscope. We discovered that cells live in a physical environment whose predominant factors are no longer those of our scale and for which we lack a direct experience and consequently a deep intuition. Here we demonstrate a new instrument which, by integrating holographic and virtual reality technologies, allows the user to be completely immersed in a dynamic virtual world which is a simultaneous replica of a real system under the microscope. We use holographic microscopy for fast 3D imaging and real-time rendering on a virtual reality headset. At the same time, hand tracking data is used to dynamically generate holographic optical traps that can be used as virtual projections of the user hands to interactively grab and manipulate ensembles of microparticles or living motile cells.

| S-EPMC8027422 | biostudies-literature

Gait Training in Virtual Reality: Short-Term Effects of Different Virtual Manipulation Techniques in Parkinson's Disease.

Project description:It is well documented that there is a strong relationship between gait asymmetry and the freezing of gait (FOG) in Parkinson's Disease. The purpose of this pilot study was to find a "virtual reality (VR)- based" gait manipulation strategy to improve gait symmetry by equalizing step length. Fifteen male PD patients (mean age of 67.6 years) with FOG were assessed on a GAITRite® walkway. Natural gait was compared with walking conditions during "VR-based" gait modulation tasks that aimed at equalizing gait symmetry using visual or proprioceptive signals. Compared to natural gait, VR manipulation tasks significantly increased step width and swing time variability for both body sides. Within the VR conditions, only the task with "proprioceptive-visual dissociation" by artificial backward shifting of the foot improved spatial asymmetry significantly with comparable step lengths of both sides. Specific, hypothesis-driven VR tasks represent an efficient tool to manipulate gait features as gait symmetry in PD potentially preventing FOG. This pilot study offers promising "VR-based" approaches for rehabilitative training strategies to achieve gait symmetry and prevent FOG.

| S-EPMC6562780 | biostudies-literature

Advanced liquid crystal devices for augmented reality and virtual reality displays: principles and applications.

Project description:Liquid crystal displays (LCDs) and photonic devices play a pivotal role to augmented reality (AR) and virtual reality (VR). The recently emerging high-dynamic-range (HDR) mini-LED backlit LCDs significantly boost the image quality and brightness and reduce the power consumption for VR displays. Such a light engine is particularly attractive for compensating the optical loss of pancake structure to achieve compact and lightweight VR headsets. On the other hand, high-resolution-density, and high-brightness liquid-crystal-on-silicon (LCoS) is a promising image source for the see-through AR displays, especially under high ambient lighting conditions. Meanwhile, the high-speed LCoS spatial light modulators open a new door for holographic displays and focal surface displays. Finally, the ultrathin planar diffractive LC optical elements, such as geometric phase LC grating and lens, have found useful applications in AR and VR for enhancing resolution, widening field-of-view, suppressing chromatic aberrations, creating multiplanes to overcome the vergence-accommodation conflict, and dynamic pupil steering to achieve gaze-matched Maxwellian displays, just to name a few. The operation principles, potential applications, and future challenges of these advanced LC devices will be discussed.

| S-EPMC9151772 | biostudies-literature

Immersive Virtual Reality Applications in Schizophrenia Spectrum Therapy: A Systematic Review.

Project description:(1) Background: Virtual Reality (VR) is a fully immersive computer simulated experience consisting of a three-dimensional interactive virtual environment, through a head-mounted display (HMD) and controller. The use of virtual reality has recently been proposed for the treatment of various psychiatric conditions, including the spectrum of schizophrenia. Our review aims to investigate the current available evidence regarding the use of immersive virtual reality in the treatment of psychotic symptoms. (2) Methods: From April 2019 to June 2020, we conducted a systematic review aimed at identifying therapeutic applications in immersive virtual reality for the spectrum of schizophrenia, searching for relevant studies on Web of Science, EMBASE, PsycINFO and CINHAL. (3) Results: We identified a total of 2601 unique records. Of these, 64 full-text articles were assessed for eligibility, and six out of these met the inclusion criteria and were included in the final systematic review. (4) Conclusions: The available data on immersive virtual reality are currently limited due to the few studies carried out on the topic; however, it has demonstrated its effectiveness and versatility in successfully treating various psychotic symptoms including delusions, hallucinations, or cognitive and social skills. Existing literature agrees on safe, tolerable, and long-term persistence of the therapeutic effects obtained by immersive VR. No serious side effects have been reported. In some specific cases, VR therapy was found to be very effective compared to usual treatment, allowing effective drug free interventions, and therefore without side effects for patients, even in those resistant to normal drug therapies.

| S-EPMC7504018 | biostudies-literature

OmicsDI is part of the ELIXIR infrastructure

OmicsDI is an Elixir interoperability service. Learn more ›

Tweets

OmicsDI Databases

PRIDE
PeptideAtlas
MassIVE
JPOST Repository
Physiome Model Repository

EGA
EVA
ENA
LINCS
PAXDB
Cell Collective

MetaboLights
Metabolomics Workbench
MetabolomeExpress
GNPS
BioModels
FAIRDOMHub

ArrayExpress
dbGaP
ExpressionAtlas
GEO
NODE

Information

Databases
Help
API
Contact us
Code on GitHub
Terms of use
Submit Data