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Leveraging Multimodal Haptic Sensory Data for Robust Cutting [article]

Kevin Zhang, Mohit Sharma, Manuela Veloso, Oliver Kroemer
2019 arXiv   pre-print
However, cutting food is a challenging task due to the wide range of material properties exhibited by food items. Due to this variability, the same cutting motions cannot be used for all food items.  ...  The robot learns neural networks for performing each of these tasks and generalizing across different material properties.  ...  The sensory data from this downward motion into the food item is used to determine the appropriate cutting parameters for the object.  ... 
arXiv:1909.12460v1 fatcat:z46crqu6fvde5b5x7axddl5kje

Multimodal interaction: A review

Matthew Turk
2014 Pattern Recognition Letters  
Finally, we list challenges that lie ahead for research in multimodal human-computer interaction.  ...  With the rapid advance in non-desktop computing generated by powerful mobile devices and affordable sensors in recent years, multimodal research that leverages speech, touch, vision, and gesture is on  ...  Biological sensory integration While much is known about how biological systems sense and process sensory data, still more is unknown, especially about how sensory channels integrate with higher-level,  ... 
doi:10.1016/j.patrec.2013.07.003 fatcat:xhbzycgarbd3vjnptybvdoezcy

A review on manipulation skill acquisition through teleoperation‐based learning from demonstration

Weiyong Si, Ning Wang, Chenguang Yang
2021 Cognitive Computation and Systems  
To this end, the key technologies, for example, manipulation skill learning, multimodal interfacing for teleoperation and telerobotic control, are introduced.  ...  Then, an overview is given in terms of the most important applications of immersive teleoperation platform for robot skill learning.  ...  The multimodal interface includes various devices, for example, haptic joystick, VR/ AR helmet, haptic data glove, ElectroMyography (EMG), MechanoMyography (MMG), enabling human operators to teleoperate  ... 
doi:10.1049/ccs2.12005 fatcat:wxyourkvrvcqlh6aht6g5fi3sy

Towards 5G Enabled Tactile Robotic Telesurgery [article]

Qi Zhang, Jianhui Liu, Guodong Zhao
2018 arXiv   pre-print
data.  ...  However, the performance of robotic telesurgery largely depends on the network performance in terms of latency, jitter and packet loss, especially when telesurgical system is equipped with haptic feedback  ...  ACKNOWLEDGMENTS The authors would like to thank Jørgen Bjerggaard Jensen, Clinical Professor in Urology at Aarhus University with special focus on bladder cancer and robotic surgery, for his experience  ... 
arXiv:1803.03586v1 fatcat:sohmkhvkhzahvef6qofer6oq3i

The Graphical Access Challenge for People with Visual Impairments: Positions and Pathways Forward [chapter]

Jenna L. Gorlewicz, Jennifer L. Tennison, Hari P. Palani, Nicholas A. Giudice
2018 Interactive Multimedia [Working Title]  
These multimodal interfaces are also poised to close the accessibility gap while serving as a model for how we think about accessibility in the context of a new technological era.  ...  *Address all correspondence to: and wide adoption among the BVI community, multimodal touchscreen interfaces are poised to serve as a model for universally designed consumer  ...  de-facto, universal means for accessing graphics in a multimodal, digital form (for example, see Figure 3 ).  ... 
doi:10.5772/intechopen.82289 fatcat:ph6xblvxpje2bo7pzufwbumnfu

Recent Advances and Opportunities of Active Materials for Haptic Technologies in Virtual and Augmented Reality

Tae‐Heon Yang, Jin Ryong Kim, Hanbit Jin, Hyunjae Gil, Jeong‐Hoi Koo, Hye Jin Kim
2021 Advanced Functional Materials  
The core technologies for tele-haptics include multimodal tactile sensing and feedback based on highly advanced sensors and actuators.  ...  Tele-haptics with multimodal and bilateral interactions are emerging as the future of the VR/AR industry.  ...  data sets for medical experts, or learning and understanding parametric equations for students  ... 
doi:10.1002/adfm.202008831 fatcat:4iapieex6nfphh67jwevoijaqa

Comparing Map Learning between Touchscreen-Based Visual and Haptic Displays: A Behavioral Evaluation with Blind and Sighted Users

Hari Prasath Palani, Paul D. S. Fink, Nicholas A. Giudice
2021 Multimodal Technologies and Interaction  
The ubiquity of multimodal smart devices affords new opportunities for eyes-free applications for conveying graphical information to both sighted and visually impaired users.  ...  Using previously established haptic design guidelines for generic rendering of graphical content on touchscreen interfaces, the current study evaluates the learning and mental representation of digital  ...  Some notable examples of using touchscreen-based haptics include accessing bar graphs, letter identification, and shape discrimination [6] , as well as accessing multi-line data representations [7, 8  ... 
doi:10.3390/mti6010001 fatcat:aqhq7iz3wjaolk5xp4bwlj35ly

Multimodal interfaces: Challenges and perspectives

Nicu Sebe
2009 Journal of Ambient Intelligence and Smart Environments  
Multimodal interfaces have been shown to have many advantages [12]: they prevent errors, bring robustness to the interface, help the user to correct errors or recover from them more easily, bring more  ...  Pointing devices with haptic feedback, eye tracking, and gaze detection [27] are also currently emerging.  ...  A typical issue of multimodal data processing is that multisensory data are typically processed separately and only combined at the end.  ... 
doi:10.3233/ais-2009-0003 fatcat:y2zimhpxrngznf64a2yulttkhm

Multi-Modal Data Fusion in Enhancing Human-Machine Interaction for Robotic Applications: A Survey [article]

Tauheed Khan Mohd, Nicole Nguyen, Ahmad Y Javaid
2022 arXiv   pre-print
The survey concludes with a summary of technologies in use for multi-modal systems.  ...  Human-machine interaction has been around for several decades now, with new applications emerging every day.  ...  According to our study, there are still avenues open for research in multimodal fusion while exploring different combinations of input modalities.  ... 
arXiv:2202.07732v2 fatcat:7om2tvpw7beuhckmr5rbypzbze

Slide-Tone and Tilt-Tone: 1-DOF Haptic Techniques for Conveying Shape Characteristics of Graphs to Blind Users

Danyang Fan, Alexa Fay Siu, Wing-Sum Adrienne Law, Raymond Ruihong Zhen, Sile O'Modhrain, Sean Follmer
2022 CHI Conference on Human Factors in Computing Systems  
interfaces for data exploration.  ...  Figure 1: Informed by formative workshops that explored how haptic cues for fngerpad position and inclination support shape perception of data graphs (a-b), we introduce two refreshable, 1-DOF audio-haptic  ...  Chase, Pramod Kotipalli, Jingyi Li, Hrishikesh Rao, Ahad Rauf, and Elizabeth Vasquez for their feedback.  ... 
doi:10.1145/3491102.3517790 fatcat:qrbenz6rdrhtbhoebj3r6ha2z4

Active Haptic Perception in Robots: A Review

Lucia Seminara, Paolo Gastaldo, Simon J. Watt, Kenneth F. Valyear, Fernando Zuher, Fulvio Mastrogiovanni
2019 Frontiers in Neurorobotics  
For robot control purposes, sensory feedback should be adequately organized in terms of relevant features and the associated data representation.  ...  Second, exploration involves specific robot behaviors that exploit distributed and heterogeneous sensory data.  ...  infrastructure to collect and process sensory data for motion planning and control.  ... 
doi:10.3389/fnbot.2019.00053 pmid:31379549 pmcid:PMC6651744 fatcat:5uytqov3zzg3nndphtdni5dlhu

Haptic Assembly and Prototyping: An Expository Review [article]

Morad Behandish, Horea T. Ilies
2017 arXiv   pre-print
haptic feedback compared to the more manageable 30-60 Hz for graphic rendering.  ...  the inherent geometric complexities faced when assembling objects of arbitrary shape; and 2) conform to the computation time limitation imposed by the notorious frame rate requirements---namely, 1 kHz for  ...  on multiple computers, and multimodal 'fission' for managing large and complex data in future work [49] .  ... 
arXiv:1712.00750v1 fatcat:gwkmw5qbqbgb5feiwzzp2qbkli

Gesture, Music and Computer: The Centro di Sonologia Computazionale at Padova University, a 50-Year History

Sergio Canazza, Giovanni De Poli, Alvise Vidolin
2022 Sensors  
Moreover, we discuss a multilevel conceptual framework, which allows multimodal expressive content processing and coordination, which is important in art and music.  ...  We discuss input devices for detecting information from gestures or audio signals and rendering systems for audience and user engagement.  ...  Institutional Acknowledgments: The authors thank Cristina Paulon for the careful revision of the paper writing style. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s22093465 pmid:35591156 fatcat:wiazbdtbqrft3cxl25omitnh4m

Human factors principles in design of computer-mediated visualization for robot missions

David I. Gertman, David J. Bruemmer
2008 2008 International Conference on Intelligent Sensors, Sensor Networks and Information Processing  
Tasks that are multimodal in nature-that is, use different sensory modes-may allow operators to concentrate on more than one task at a time.  ...  Abstraction is also required for aspects of control. Perceptual abstractions become the inputs for control. Whereas perception abstracts sensory data, control abstraction is the layering of actions.  ... 
doi:10.1109/issnip.2008.4761993 fatcat:wgckcxbsw5avrk6227zf32pixe

Sensory Substitution for Force Feedback Recovery

Angelica I. Aviles-Rivero, Samar M. Alsaleh, John Philbeck, Stella P. Raventos, Naji Younes, James K. Hahn, Alicia Casals
2018 ACM Transactions on Applied Perception  
To our knowledge, this is the first time that these principles are analyzed for exploring sensory substitution in medical robotics.  ...  An attractive alternative is sensory substitution, which allows transcoding information from one sensory modality to present it in a different sensory modality.  ...  Furthermore, sensory substitution can be very effective in training surgeons to use RASS and can compensate for the lack of haptic feedback by the robotic system.  ... 
doi:10.1145/3176642 fatcat:hrgxifbmsbg4jefr4vhrxw4xjm
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