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The thesis project focuses on developing a dynamic obstacle avoidance system for collabo-rative robots using machine vision technology, integrated with ROS (Robot Operating Sys-tem) and MoveIt framework. The primary aim is to enhance safety and efficiency in shared workspaces where humans and robots interact closely. The research addresses several investigative questions, including the implementation of machine vision to improve human-robot collaboration and safety, the system's ability to de-tect and navigate around humans, and its real-time responsiveness in dynamic scenarios. The system utilizes 3D depth vision systems and dynamic path planning algorithms to achieve real-time responsiveness in human-robot interaction scenarios. The vision system is central to the setup, two Kinect 2.0 cameras are used for environ-ment perception, providing RGB-D data. The cameras are calibrated for intrinsic, extrinsic, and hand-eye parameters to ensure accurate 3D mapping. The captured point clouds are processed through filters such as passthrough, voxel grid, and statistical outlier removal to create a clean and accurate representation of the workspace, which is then converted into an Octomap occupancy map. The Universal Robot UR10e serves as the collaborative robot (cobot). It is integrated with ROS using the Universal Robots ROS Driver, which allows for direct control and com-munication between the robot and the ROS ecosystem via Ethernet. The system utilizes the RRT-Connect algorithm within the MoveIt framework for real-time path planning. This algorithm enables the robot to dynamically adjust its path in re-sponse to detected obstacles, ensuring collision-free operation. The entire system is configured on a high-end laptop with ROS Noetic running on Ub-untu 20.04.6 LTS.The testing phase involves evaluating the system's performance in detecting and avoiding both stationary and dynamic obstacles. The response time and accuracy of the obstacle detection and path planning compo

Den här undersökningen använde två olika typer av icke-verbala ljudsignaler; auditory icons och earcons (Liebman & Nees, 2023). Auditory icons är verklighetstrogna ljudsymboler som har riktiga inspelade ljud som speglar händelser. Earcons är ljudsymboler som består av syntetiskt skapade ljud som representerar olika händelser. Syftet med denna studie var att kunna öka förståelse kring hur icke verbala ljudsignaler kan hjälpa en användare att förstå hur de bör genomföra en uppgift. Detta undersöktes genom pusselspel som var inspirerade av escape rooms. Genom detta gick det att jämföra om auditory icons eller earcons ger bättre förståelse och reaktionstid för vad som bör göras och vad som är fel, eller andra för och nackdelar med dem. Den här undersökningen har tydligare förklarat hur dessa pusselspel i det fysiska rummet designades och i större detalj beskrivit alla relevanta begrepp. Två versioner av båda fysiska pusselspel har producerats där en av versionerna använde sig av auditory icons som sin ljuddesignmetod, och den andra versionen har använt sig av earcons som ljuddesignmetod. Syftet med att göra två versioner var för att sedan kunna undersöka användarnas resultat när pusselrummet testades, och se ifall vilken typ av ljudläggning som används hade någon påverkan på användarnas förståelse av utmaningen. En av anledningarna till att gestaltningen var i formen av ett fysiskt pusselrum var för att det skulle vara tydligt att se var användare fastnade, och sedan då iterera och se om en annan ljuddesign hade underlättat användaren för att förstå lösningen till pusselrummet. Resultatet av undersökningen visade att earcons som ljuddesignmetod ledde till en snabbare genomsnittlig lösningstid i jämförelse till auditory icons som ljuddesignmetod., In this study two different kinds of non-verbal audio cues were used; auditory icons and earcons (Liebman & Nees, 2023). Auditory icons are audio symbols which consist of realistic related sounds that are recorded from reality, which reflect real physical events. Earcons are audio symbols which consist of synthetic sounds which are meant to represent different events. The purpose of this study was to attempt to increase the understanding about how non verbal audio cues can help a user understand how to perform a task. This was researched through puzzle games which were inspired by escape rooms. Through this it was possible to compare whether auditory icons or earcons could give a better sense of understanding and reaction time for what had to be done and what was an incorrect solution, as well as other advantages or disadvantages to them. This investigation has more clearly described how these puzzle games in a physical room were designed and described relevant terminology in greater detail. Two versions of each physical puzzle game has been produced, where one of the versions uses auditory icons as its sound design method, and the other version used earcons as its sound design method. The purpose with making two different versions was to be able to observe the users results when the puzzle rooms are tested, and to see if what type of sound design method being used had any impact on how the users understood the challenge. One of the reasons that the embodiment took the shape of a physical puzzle room was because it would be clear where the users got stuck, and then see where to iterate to see if another audio design would have facilitated the solution to the puzzle room for the user. The result of the study showed that using earcons as a sound design method led to a faster average solving time when compared to auditory icons as a sound design method.

Den här undersökningen använde två olika typer av icke-verbala ljudsignaler; auditory icons och earcons (Liebman & Nees, 2023). Auditory icons är verklighetstrogna ljudsymboler som har riktiga inspelade ljud som speglar händelser. Earcons är ljudsymboler som består av syntetiskt skapade ljud som representerar olika händelser. Syftet med denna studie var att kunna öka förståelse kring hur icke verbala ljudsignaler kan hjälpa en användare att förstå hur de bör genomföra en uppgift. Detta undersöktes genom pusselspel som var inspirerade av escape rooms. Genom detta gick det att jämföra om auditory icons eller earcons ger bättre förståelse och reaktionstid för vad som bör göras och vad som är fel, eller andra för och nackdelar med dem. Den här undersökningen har tydligare förklarat hur dessa pusselspel i det fysiska rummet designades och i större detalj beskrivit alla relevanta begrepp. Två versioner av båda fysiska pusselspel har producerats där en av versionerna använde sig av auditory icons som sin ljuddesignmetod, och den andra versionen har använt sig av earcons som ljuddesignmetod. Syftet med att göra två versioner var för att sedan kunna undersöka användarnas resultat när pusselrummet testades, och se ifall vilken typ av ljudläggning som används hade någon påverkan på användarnas förståelse av utmaningen. En av anledningarna till att gestaltningen var i formen av ett fysiskt pusselrum var för att det skulle vara tydligt att se var användare fastnade, och sedan då iterera och se om en annan ljuddesign hade underlättat användaren för att förstå lösningen till pusselrummet. Resultatet av undersökningen visade att earcons som ljuddesignmetod ledde till en snabbare genomsnittlig lösningstid i jämförelse till auditory icons som ljuddesignmetod., In this study two different kinds of non-verbal audio cues were used; auditory icons and earcons (Liebman & Nees, 2023). Auditory icons are audio symbols which consist of realistic related sounds that are recorded from reality, which reflect real physical events. Earcons are audio symbols which consist of synthetic sounds which are meant to represent different events. The purpose of this study was to attempt to increase the understanding about how non verbal audio cues can help a user understand how to perform a task. This was researched through puzzle games which were inspired by escape rooms. Through this it was possible to compare whether auditory icons or earcons could give a better sense of understanding and reaction time for what had to be done and what was an incorrect solution, as well as other advantages or disadvantages to them. This investigation has more clearly described how these puzzle games in a physical room were designed and described relevant terminology in greater detail. Two versions of each physical puzzle game has been produced, where one of the versions uses auditory icons as its sound design method, and the other version used earcons as its sound design method. The purpose with making two different versions was to be able to observe the users results when the puzzle rooms are tested, and to see if what type of sound design method being used had any impact on how the users understood the challenge. One of the reasons that the embodiment took the shape of a physical puzzle room was because it would be clear where the users got stuck, and then see where to iterate to see if another audio design would have facilitated the solution to the puzzle room for the user. The result of the study showed that using earcons as a sound design method led to a faster average solving time when compared to auditory icons as a sound design method.

Den här undersökningen använde två olika typer av icke-verbala ljudsignaler; auditory icons och earcons (Liebman & Nees, 2023). Auditory icons är verklighetstrogna ljudsymboler som har riktiga inspelade ljud som speglar händelser. Earcons är ljudsymboler som består av syntetiskt skapade ljud som representerar olika händelser. Syftet med denna studie var att kunna öka förståelse kring hur icke verbala ljudsignaler kan hjälpa en användare att förstå hur de bör genomföra en uppgift. Detta undersöktes genom pusselspel som var inspirerade av escape rooms. Genom detta gick det att jämföra om auditory icons eller earcons ger bättre förståelse och reaktionstid för vad som bör göras och vad som är fel, eller andra för och nackdelar med dem. Den här undersökningen har tydligare förklarat hur dessa pusselspel i det fysiska rummet designades och i större detalj beskrivit alla relevanta begrepp. Två versioner av båda fysiska pusselspel har producerats där en av versionerna använde sig av auditory icons som sin ljuddesignmetod, och den andra versionen har använt sig av earcons som ljuddesignmetod. Syftet med att göra två versioner var för att sedan kunna undersöka användarnas resultat när pusselrummet testades, och se ifall vilken typ av ljudläggning som används hade någon påverkan på användarnas förståelse av utmaningen. En av anledningarna till att gestaltningen var i formen av ett fysiskt pusselrum var för att det skulle vara tydligt att se var användare fastnade, och sedan då iterera och se om en annan ljuddesign hade underlättat användaren för att förstå lösningen till pusselrummet. Resultatet av undersökningen visade att earcons som ljuddesignmetod ledde till en snabbare genomsnittlig lösningstid i jämförelse till auditory icons som ljuddesignmetod., In this study two different kinds of non-verbal audio cues were used; auditory icons and earcons (Liebman & Nees, 2023). Auditory icons are audio symbols which consist of realistic related sounds that are recorded from reality, which reflect real physical events. Earcons are audio symbols which consist of synthetic sounds which are meant to represent different events. The purpose of this study was to attempt to increase the understanding about how non verbal audio cues can help a user understand how to perform a task. This was researched through puzzle games which were inspired by escape rooms. Through this it was possible to compare whether auditory icons or earcons could give a better sense of understanding and reaction time for what had to be done and what was an incorrect solution, as well as other advantages or disadvantages to them. This investigation has more clearly described how these puzzle games in a physical room were designed and described relevant terminology in greater detail. Two versions of each physical puzzle game has been produced, where one of the versions uses auditory icons as its sound design method, and the other version used earcons as its sound design method. The purpose with making two different versions was to be able to observe the users results when the puzzle rooms are tested, and to see if what type of sound design method being used had any impact on how the users understood the challenge. One of the reasons that the embodiment took the shape of a physical puzzle room was because it would be clear where the users got stuck, and then see where to iterate to see if another audio design would have facilitated the solution to the puzzle room for the user. The result of the study showed that using earcons as a sound design method led to a faster average solving time when compared to auditory icons as a sound design method.

Den här undersökningen använde två olika typer av icke-verbala ljudsignaler; auditory icons och earcons (Liebman & Nees, 2023). Auditory icons är verklighetstrogna ljudsymboler som har riktiga inspelade ljud som speglar händelser. Earcons är ljudsymboler som består av syntetiskt skapade ljud som representerar olika händelser. Syftet med denna studie var att kunna öka förståelse kring hur icke verbala ljudsignaler kan hjälpa en användare att förstå hur de bör genomföra en uppgift. Detta undersöktes genom pusselspel som var inspirerade av escape rooms. Genom detta gick det att jämföra om auditory icons eller earcons ger bättre förståelse och reaktionstid för vad som bör göras och vad som är fel, eller andra för och nackdelar med dem. Den här undersökningen har tydligare förklarat hur dessa pusselspel i det fysiska rummet designades och i större detalj beskrivit alla relevanta begrepp. Två versioner av båda fysiska pusselspel har producerats där en av versionerna använde sig av auditory icons som sin ljuddesignmetod, och den andra versionen har använt sig av earcons som ljuddesignmetod. Syftet med att göra två versioner var för att sedan kunna undersöka användarnas resultat när pusselrummet testades, och se ifall vilken typ av ljudläggning som används hade någon påverkan på användarnas förståelse av utmaningen. En av anledningarna till att gestaltningen var i formen av ett fysiskt pusselrum var för att det skulle vara tydligt att se var användare fastnade, och sedan då iterera och se om en annan ljuddesign hade underlättat användaren för att förstå lösningen till pusselrummet. Resultatet av undersökningen visade att earcons som ljuddesignmetod ledde till en snabbare genomsnittlig lösningstid i jämförelse till auditory icons som ljuddesignmetod., In this study two different kinds of non-verbal audio cues were used; auditory icons and earcons (Liebman & Nees, 2023). Auditory icons are audio symbols which consist of realistic related sounds that are recorded from reality, which reflect real physical events. Earcons are audio symbols which consist of synthetic sounds which are meant to represent different events. The purpose of this study was to attempt to increase the understanding about how non verbal audio cues can help a user understand how to perform a task. This was researched through puzzle games which were inspired by escape rooms. Through this it was possible to compare whether auditory icons or earcons could give a better sense of understanding and reaction time for what had to be done and what was an incorrect solution, as well as other advantages or disadvantages to them. This investigation has more clearly described how these puzzle games in a physical room were designed and described relevant terminology in greater detail. Two versions of each physical puzzle game has been produced, where one of the versions uses auditory icons as its sound design method, and the other version used earcons as its sound design method. The purpose with making two different versions was to be able to observe the users results when the puzzle rooms are tested, and to see if what type of sound design method being used had any impact on how the users understood the challenge. One of the reasons that the embodiment took the shape of a physical puzzle room was because it would be clear where the users got stuck, and then see where to iterate to see if another audio design would have facilitated the solution to the puzzle room for the user. The result of the study showed that using earcons as a sound design method led to a faster average solving time when compared to auditory icons as a sound design method.

Den här undersökningen använde två olika typer av icke-verbala ljudsignaler; auditory icons och earcons (Liebman & Nees, 2023). Auditory icons är verklighetstrogna ljudsymboler som har riktiga inspelade ljud som speglar händelser. Earcons är ljudsymboler som består av syntetiskt skapade ljud som representerar olika händelser. Syftet med denna studie var att kunna öka förståelse kring hur icke verbala ljudsignaler kan hjälpa en användare att förstå hur de bör genomföra en uppgift. Detta undersöktes genom pusselspel som var inspirerade av escape rooms. Genom detta gick det att jämföra om auditory icons eller earcons ger bättre förståelse och reaktionstid för vad som bör göras och vad som är fel, eller andra för och nackdelar med dem. Den här undersökningen har tydligare förklarat hur dessa pusselspel i det fysiska rummet designades och i större detalj beskrivit alla relevanta begrepp. Två versioner av båda fysiska pusselspel har producerats där en av versionerna använde sig av auditory icons som sin ljuddesignmetod, och den andra versionen har använt sig av earcons som ljuddesignmetod. Syftet med att göra två versioner var för att sedan kunna undersöka användarnas resultat när pusselrummet testades, och se ifall vilken typ av ljudläggning som används hade någon påverkan på användarnas förståelse av utmaningen. En av anledningarna till att gestaltningen var i formen av ett fysiskt pusselrum var för att det skulle vara tydligt att se var användare fastnade, och sedan då iterera och se om en annan ljuddesign hade underlättat användaren för att förstå lösningen till pusselrummet. Resultatet av undersökningen visade att earcons som ljuddesignmetod ledde till en snabbare genomsnittlig lösningstid i jämförelse till auditory icons som ljuddesignmetod., In this study two different kinds of non-verbal audio cues were used; auditory icons and earcons (Liebman & Nees, 2023). Auditory icons are audio symbols which consist of realistic related sounds that are recorded from reality, which reflect real physical events. Earcons are audio symbols which consist of synthetic sounds which are meant to represent different events. The purpose of this study was to attempt to increase the understanding about how non verbal audio cues can help a user understand how to perform a task. This was researched through puzzle games which were inspired by escape rooms. Through this it was possible to compare whether auditory icons or earcons could give a better sense of understanding and reaction time for what had to be done and what was an incorrect solution, as well as other advantages or disadvantages to them. This investigation has more clearly described how these puzzle games in a physical room were designed and described relevant terminology in greater detail. Two versions of each physical puzzle game has been produced, where one of the versions uses auditory icons as its sound design method, and the other version used earcons as its sound design method. The purpose with making two different versions was to be able to observe the users results when the puzzle rooms are tested, and to see if what type of sound design method being used had any impact on how the users understood the challenge. One of the reasons that the embodiment took the shape of a physical puzzle room was because it would be clear where the users got stuck, and then see where to iterate to see if another audio design would have facilitated the solution to the puzzle room for the user. The result of the study showed that using earcons as a sound design method led to a faster average solving time when compared to auditory icons as a sound design method.

The thesis project focuses on developing a dynamic obstacle avoidance system for collabo-rative robots using machine vision technology, integrated with ROS (Robot Operating Sys-tem) and MoveIt framework. The primary aim is to enhance safety and efficiency in shared workspaces where humans and robots interact closely. The research addresses several investigative questions, including the implementation of machine vision to improve human-robot collaboration and safety, the system's ability to de-tect and navigate around humans, and its real-time responsiveness in dynamic scenarios. The system utilizes 3D depth vision systems and dynamic path planning algorithms to achieve real-time responsiveness in human-robot interaction scenarios. The vision system is central to the setup, two Kinect 2.0 cameras are used for environ-ment perception, providing RGB-D data. The cameras are calibrated for intrinsic, extrinsic, and hand-eye parameters to ensure accurate 3D mapping. The captured point clouds are processed through filters such as passthrough, voxel grid, and statistical outlier removal to create a clean and accurate representation of the workspace, which is then converted into an Octomap occupancy map. The Universal Robot UR10e serves as the collaborative robot (cobot). It is integrated with ROS using the Universal Robots ROS Driver, which allows for direct control and com-munication between the robot and the ROS ecosystem via Ethernet. The system utilizes the RRT-Connect algorithm within the MoveIt framework for real-time path planning. This algorithm enables the robot to dynamically adjust its path in re-sponse to detected obstacles, ensuring collision-free operation. The entire system is configured on a high-end laptop with ROS Noetic running on Ub-untu 20.04.6 LTS.The testing phase involves evaluating the system's performance in detecting and avoiding both stationary and dynamic obstacles. The response time and accuracy of the obstacle detection and path planning compo

Den här undersökningen använde två olika typer av icke-verbala ljudsignaler; auditory icons och earcons (Liebman & Nees, 2023). Auditory icons är verklighetstrogna ljudsymboler som har riktiga inspelade ljud som speglar händelser. Earcons är ljudsymboler som består av syntetiskt skapade ljud som representerar olika händelser. Syftet med denna studie var att kunna öka förståelse kring hur icke verbala ljudsignaler kan hjälpa en användare att förstå hur de bör genomföra en uppgift. Detta undersöktes genom pusselspel som var inspirerade av escape rooms. Genom detta gick det att jämföra om auditory icons eller earcons ger bättre förståelse och reaktionstid för vad som bör göras och vad som är fel, eller andra för och nackdelar med dem. Den här undersökningen har tydligare förklarat hur dessa pusselspel i det fysiska rummet designades och i större detalj beskrivit alla relevanta begrepp. Två versioner av båda fysiska pusselspel har producerats där en av versionerna använde sig av auditory icons som sin ljuddesignmetod, och den andra versionen har använt sig av earcons som ljuddesignmetod. Syftet med att göra två versioner var för att sedan kunna undersöka användarnas resultat när pusselrummet testades, och se ifall vilken typ av ljudläggning som används hade någon påverkan på användarnas förståelse av utmaningen. En av anledningarna till att gestaltningen var i formen av ett fysiskt pusselrum var för att det skulle vara tydligt att se var användare fastnade, och sedan då iterera och se om en annan ljuddesign hade underlättat användaren för att förstå lösningen till pusselrummet. Resultatet av undersökningen visade att earcons som ljuddesignmetod ledde till en snabbare genomsnittlig lösningstid i jämförelse till auditory icons som ljuddesignmetod., In this study two different kinds of non-verbal audio cues were used; auditory icons and earcons (Liebman & Nees, 2023). Auditory icons are audio symbols which consist of realistic related sounds that are recorded from reality, which reflect real physical events. Earcons are audio symbols which consist of synthetic sounds which are meant to represent different events. The purpose of this study was to attempt to increase the understanding about how non verbal audio cues can help a user understand how to perform a task. This was researched through puzzle games which were inspired by escape rooms. Through this it was possible to compare whether auditory icons or earcons could give a better sense of understanding and reaction time for what had to be done and what was an incorrect solution, as well as other advantages or disadvantages to them. This investigation has more clearly described how these puzzle games in a physical room were designed and described relevant terminology in greater detail. Two versions of each physical puzzle game has been produced, where one of the versions uses auditory icons as its sound design method, and the other version used earcons as its sound design method. The purpose with making two different versions was to be able to observe the users results when the puzzle rooms are tested, and to see if what type of sound design method being used had any impact on how the users understood the challenge. One of the reasons that the embodiment took the shape of a physical puzzle room was because it would be clear where the users got stuck, and then see where to iterate to see if another audio design would have facilitated the solution to the puzzle room for the user. The result of the study showed that using earcons as a sound design method led to a faster average solving time when compared to auditory icons as a sound design method.

We investigated children's positive emotions as an indicator of their underlying prosocial motivation. In Study 1, 2-, and 5-year-old children (N = 64) could either help an individual or watch as another person provided help. Following the helping event and using depth sensor imaging, we measured children's positive emotions through changes in postural elevation. For 2-year-olds, helping the individual and watching another person help was equally rewarding; 5-year-olds showed greater postural elevation after actively helping. In Study 2, 5-year-olds' (N = 59) positive emotions following helping were greater when an audience was watching. Together, these results suggest that 2-year-old children have an intrinsic concern that individuals be helped whereas 5-year-old children have an additional, strategic motivation to improve their reputation by helping.

The elderly population experiences a decline in upper extremity range of motion (ROM), impairing activities of daily living. The primary mode of quantification is by goniometer measurement. In this cross-sectional observation study, we investigate a sensor-acquired reachable workspace for assessing shoulder ROM decline in an elderly population in comparison to traditional measurements. Sixty-one healthy subjects aged ≥ 65 years were included and compared to a cohort of 39 younger subjects, aged 20 to 64. A sensor acquired reachable workspace using a Kinect motion capture camera measured the maximum reaching ability of both arms while in a seated position, measured in m2 and normalized to arm length to calculate a novel score defined as a relative surface area. This score approximates range of motion in the upper extremity. This measurement was compared to goniometer measurements, including active ROM in shoulder flexion and abduction. Total RSA shows moderate to strong correlation between goniometer in flexion and abduction in the dominant arm (R = 0.790 and R = 0.650, P < .001, respectively) and moderate correlations for the nondominant arm (R = 0.622 and R = 0.615, P < .001). Compared to the younger cohort, the elderly population demonstrated significantly reduced total RSA in the dominant arm (meanelderly = 0.774, SD = 0.09; meanyounger = 0.830, SD = 0.07, P < .001), with significant reductions in the upper lateral quadrant in both arms (dominant: meanelderly = 0.225, SD = 0.04; meanyounger = 0.241, SD = 0.01; P < .001; nondominant: meanelderly = 0.213, SD = 0.03; meanyounger = 0.228, SD = 0.01; P = .004). The test-retest reliability was strong for both dominant and nondominant total RSA (ICC > 0.762). The reachable workspace demonstrates promise as a simple and quick tool for clinicians to assess detailed and quantitative active shoulder ROM decline in the elderly population.

The elderly population experiences a decline in upper extremity range of motion (ROM), impairing activities of daily living. The primary mode of quantification is by goniometer measurement. In this cross-sectional observation study, we investigate a sensor-acquired reachable workspace for assessing shoulder ROM decline in an elderly population in comparison to traditional measurements. Sixty-one healthy subjects aged ≥ 65 years were included and compared to a cohort of 39 younger subjects, aged 20 to 64. A sensor acquired reachable workspace using a Kinect motion capture camera measured the maximum reaching ability of both arms while in a seated position, measured in m2 and normalized to arm length to calculate a novel score defined as a relative surface area. This score approximates range of motion in the upper extremity. This measurement was compared to goniometer measurements, including active ROM in shoulder flexion and abduction. Total RSA shows moderate to strong correlation between goniometer in flexion and abduction in the dominant arm (R = 0.790 and R = 0.650, P < .001, respectively) and moderate correlations for the nondominant arm (R = 0.622 and R = 0.615, P < .001). Compared to the younger cohort, the elderly population demonstrated significantly reduced total RSA in the dominant arm (meanelderly = 0.774, SD = 0.09; meanyounger = 0.830, SD = 0.07, P < .001), with significant reductions in the upper lateral quadrant in both arms (dominant: meanelderly = 0.225, SD = 0.04; meanyounger = 0.241, SD = 0.01; P < .001; nondominant: meanelderly = 0.213, SD = 0.03; meanyounger = 0.228, SD = 0.01; P = .004). The test-retest reliability was strong for both dominant and nondominant total RSA (ICC > 0.762). The reachable workspace demonstrates promise as a simple and quick tool for clinicians to assess detailed and quantitative active shoulder ROM decline in the elderly population.

BackgroundOutcome measures for non-ambulant Duchenne muscular dystrophy (DMD) patients are limited, with only the Performance of the Upper Limb (PUL) approved as endpoint for clinical trials.ObjectiveWe assessed four outcome measures based on devices developed for the gaming industry, aiming to overcome disadvantages of observer-dependency and motivation.MethodsTwenty-two non-ambulant DMD patients (range 8.6-24.1 years) and 14 healthy controls (HC; range 9.5-25.4 years) were studied at baseline and 16 patients at 12 months using Leap Motion to quantify wrist/hand active range of motion (aROM) and a Kinect sensor for reached volume with Ability Captured Through Interactive Video Evaluation (ACTIVE), Functional Workspace (FWS) summed distance to seven upper extremity body points, and trunk compensation (KinectTC). PUL 2.0 was performed in patients only. A stepwise approach assessed quality control, construct validity, reliability, concurrent validity, longitudinal change and patient perception.ResultsLeap Motion aROM distinguished patients and HCs for supination, radial deviation and wrist flexion (range p = 0.006 to <0.001). Reliability was low and the manufacturer's hand model did not match the sensor's depth images. ACTIVE differed between patients and HCs (p < 0.001), correlated with PUL (rho = 0.76), and decreased over time (p = 0.030) with a standardized response mean (SRM) of -0.61. It was appraised as fun on a 10-point numeric rating scale (median 9/10). PUL decreased over time (p < 0.001) with an SRM of -1.28, and was appraised as fun (median 7/10). FWS summed distance distinguished patients and HCs (p < 0.001), but reliability in patients was insufficient. KinectTC differed between patients and HCs (p < 0.01), but correlated insufficiently with PUL (rho = -0.69).ConclusionsOnly ACTIVE qualified as potential outcome measure in non-ambulant DMD patients, although the SRM was below the commonly used threshold of 0.8. Lack of insight in technologi

There are various methods of rehabilitation to restore disabled gait, one of which is gait analysis. However, some gait analysis systems have shown drawbacks for clinical use, such as system complexity and the high cost of gait equipment. A Kinect sensor could be used as an alternative for gait analysis and is studied in this research. The accuracy of a Kinect in calculation of kinematic gait parameters was computed during normal gait. The gait analysis was processed with Matlab and data was acquired by recording multiple subjects’ gait with different Kinect position. Subjects’ the right knee was calculated and the results shown the best position of Kinect to capture gait is 45º towards motion path with errors of detecting gait parameters about 7%. Hence, Kinect sensor is capable of doing gait analysis for further pre-clinical applications.

This paper describes a therapeutic full-body controlled video game for children with attention deficit / hyperactivity disorder (ADHD). The game supports a co-located gameplay with a depth-sensing camera and a large media screen. Children play the game in pairs for improved impulse and behavior control, self-monitoring, peer-communication, and emotion regulation. The gaming was implemented as a part of a neuropsychological group intervention for children with confirmed deficits in attention or diagnosed ADHD. We present a final design of the game and associated gaming routines, explain anticipated health benefits of the gaming, outline how the gaming can be used for research and therapeutic purposes, and provide directions for future research.

Background: Exergames can provide encouraging exercise options. Currently, there is limited evidence regarding home-based exergaming in the postoperative phase of total knee replacement (TKR). Objective: This study aimed to investigate the effects of a 4-month postoperative home-based exergame intervention with an 8-month follow-up on physical function and symptoms among older persons undergoing TKR compared with home exercise using a standard protocol. In addition, a concurrent embedded design of a mixed methods study was used by including a qualitative component within a quantitative study of exergame effects. Methods: This was a dual-center, nonblinded, two-arm, parallel group randomized controlled trial with an embedded qualitative approach. This study aimed to recruit 100 patients who underwent their first unilateral TKR (aged 60–75 years). Participants were randomized to the exergame or standard home exercise arms. Participants followed a custom-made exergame program independently at their homes daily for 4 months. The primary outcomes at 4 months were function and pain related to the knee using the Oxford Knee Score questionnaire and mobility using the Timed Up and Go test. Other outcomes, in addition to physical function, symptoms, and disability, were game user experience, exercise adherence, physical activity, and satisfaction with the operated knee. Assessments were performed at the preoperative baseline and at 2, 4, and 12 months postoperatively. Exergame adherence was followed from game computers and using a structured diary. Self-reported standard exercise was followed for 4 months of intervention and physical activity was followed for 12 months using a structured diary. Qualitative data on patients’ perspectives on rehabilitation and exergames were collected through laddering interviews at 4 and 12 months. Results: This study was funded in 2018. Data collection began in 2019 and was completed in January 2022. The COVID-19 pandemic caused an u

There are various methods of rehabilitation to restore disabled gait, one of which is gait analysis. However, some gait analysis systems have shown drawbacks for clinical use, such as system complexity and the high cost of gait equipment. A Kinect sensor could be used as an alternative for gait analysis and is studied in this research. The accuracy of a Kinect in calculation of kinematic gait parameters was computed during normal gait. The gait analysis was processed with Matlab and data was acquired by recording multiple subjects’ gait with different Kinect position. Subjects’ the right knee was calculated and the results shown the best position of Kinect to capture gait is 45º towards motion path with errors of detecting gait parameters about 7%. Hence, Kinect sensor is capable of doing gait analysis for further pre-clinical applications.

[Resumen] En un mundo cada vez más conectado a la “Red” en el que el trato y la forma del proceso de compra-venta ha sufrido un gran cambio en la última década con la irrupción del comercio online, se hace indispensable que el pequeño comercio se reinvente para dar mejor trato y satisfacción a los clientes que pretende fidelizar. En este contexto se enmarca el presente trabajo, que propone el diseño e implementación de un prototipo funcional de escaparate virtual a través de la tecnología de Kinect fusionando informática y técnicas de control. El trabajo y prototipo desarrollado ha sido todo un éxito comercial, obteniendo distintos reconocimientos y premios, siendo además protegido por una patente de invención denominada “Procedimiento para escaparate virtual in situ”, con número de solicitud P201531546 y fecha de prioridad 29 de octubre de 2015. Además, este artículo muestra los resultados comerciales obtenidos de la implantación del prototipo durante 3 meses en la tienda Mikonos de Logroño (La Rioja), haciendo una comparativa de datos con el mismo periodo del año anterior. Como conclusión de este estudio de resultados se puede obtener que la implantación del prototipo de escaparate interactivo virtual ha sido todo un éxito, consiguiendo su objetivo de aumentar el número de personas que han entrado en la tienda en casi un 20% y siendo responsable en parte del aumento de facturación en más de un 10%., [Abstract] In a world increasingly connected to the "Network" in which the treatment and form of the buying and selling process has undergone a great change in the last decade with the irruption of e-commerce, it is essential that small businesses reinvent themselves to give better treatment and satisfaction to the customers they intend to retain. In this context, the present work is framed, which proposes the design and implementation of a functional prototype of a virtual showcase through Kinect technology, merging computer and control techniques. The work and prototype developed has been a commercial success, obtaining different recognitions and awards, being also protected by an invention patent called "On-site virtual showcase procedure", with application number P201531546 and priority date October 29, 2015. In addition, this article shows the commercial results obtained from the implementation of the prototype for 3 months in the Mikonos store in Logroño, making a comparison of data with the same period of the previous year. As a conclusion of this study of results it can be obtained that the implementation of the prototype of virtual interactive showcase has been a success, achieving its objective of increasing the number of people who have entered the store by almost 20% and being responsible in part for the increase in turnover by more than 10%.

[ES] El disponer de un equipo de bajo coste para la reconstrucción 3D de objetos y escenas presenta un gran interés en un gran número de industrias. El trabajo consistirá en la evaluación y análisis de diferentes sensores y técnicas de visión artificial para dicha reconstrucción 3D. Para ello el alumno tendrá que realizar una búsqueda de estado del arte y realizar una comparación cuantitativa y cualitativa de las distintas técnicas existentes. Durante la realización de este trabajo el alumno programará aplicaciones de captura de imágenes de color y de profundidad de cámaras RGB-D tanto de luz estructurada como de tiempo de vuelo y realizará un caso práctico con diferentes técnicas de reconstrucción 3D., [EN] Three-dimensional reconstruction done by 3D artificial vision cameras are really used when remembering an object or scene is needed. Having access to an optimised three-dimensional model of the scanned object, allows users to visualize it, as many times as needed, catching missing information not taken on first look. This project gets information about methodologies used when building an artificial vision system, going deeper into stereovision, which is the technique used all along the project. The 3D cameras used on the project are commercial ones, Intel Realsense Depth Camera D415 and Microsoft Azure Kinect DK. Besides, software development has been done with Python 3.7 and RTABMap. After the reconstruction, models are analysed, extracting their advantages, drawbacks, and some characteristics where they are not different at all. 3D Models reconstructed from both cameras have been objectively compared assuring their strengths are known., [CA] Les reconstruccions tridimensionals realitzades amb càmeres de visió 3D son de gran utilitat a l’hora de recrear objectes o estàncies. Mitjançant un model tridimensional òptim, el objecte escanejat pot ser visualitzat tantes vegades con sigui necessari, recordant informació que amb la primera ullada no s’ha considerat rellevant. El projecte acull les diferents metodologies utilitzades per a crear sistemes de visió artificial, centrant-se a la estereovisió, tècnica utilitzada per a desenvolupar el projecte. Les càmeres utilitzades son els models comercials Intel Realsense Depth Camera D451 i la Microsoft Azure Kinect DK. Respecte el desenvolupament de software realitzat, ha segut implementat mitjançant Python 3.7 y RTABMap. Una vegada reconstruïts, els models son analitzats, definint els punts forts, febles y aquells aspectes que no varien respectivament. Així es comparen els models obtinguts amb les dues càmeres y es demostren els avantatges de les tècniques utilitzades.

[ES] El disponer de un equipo de bajo coste para la reconstrucción 3D de objetos y escenas presenta un gran interés en un gran número de industrias. El trabajo consistirá en la evaluación y análisis de diferentes sensores y técnicas de visión artificial para dicha reconstrucción 3D. Para ello el alumno tendrá que realizar una búsqueda de estado del arte y realizar una comparación cuantitativa y cualitativa de las distintas técnicas existentes. Durante la realización de este trabajo el alumno programará aplicaciones de captura de imágenes de color y de profundidad de cámaras RGB-D tanto de luz estructurada como de tiempo de vuelo y realizará un caso práctico con diferentes técnicas de reconstrucción 3D., [EN] Three-dimensional reconstruction done by 3D artificial vision cameras are really used when remembering an object or scene is needed. Having access to an optimised three-dimensional model of the scanned object, allows users to visualize it, as many times as needed, catching missing information not taken on first look. This project gets information about methodologies used when building an artificial vision system, going deeper into stereovision, which is the technique used all along the project. The 3D cameras used on the project are commercial ones, Intel Realsense Depth Camera D415 and Microsoft Azure Kinect DK. Besides, software development has been done with Python 3.7 and RTABMap. After the reconstruction, models are analysed, extracting their advantages, drawbacks, and some characteristics where they are not different at all. 3D Models reconstructed from both cameras have been objectively compared assuring their strengths are known., [CA] Les reconstruccions tridimensionals realitzades amb càmeres de visió 3D son de gran utilitat a l’hora de recrear objectes o estàncies. Mitjançant un model tridimensional òptim, el objecte escanejat pot ser visualitzat tantes vegades con sigui necessari, recordant informació que amb la primera ullada no s’ha considerat rellevant. El projecte acull les diferents metodologies utilitzades per a crear sistemes de visió artificial, centrant-se a la estereovisió, tècnica utilitzada per a desenvolupar el projecte. Les càmeres utilitzades son els models comercials Intel Realsense Depth Camera D451 i la Microsoft Azure Kinect DK. Respecte el desenvolupament de software realitzat, ha segut implementat mitjançant Python 3.7 y RTABMap. Una vegada reconstruïts, els models son analitzats, definint els punts forts, febles y aquells aspectes que no varien respectivament. Així es comparen els models obtinguts amb les dues càmeres y es demostren els avantatges de les tècniques utilitzades.

[ES] El disponer de un equipo de bajo coste para la reconstrucción 3D de objetos y escenas presenta un gran interés en un gran número de industrias. El trabajo consistirá en la evaluación y análisis de diferentes sensores y técnicas de visión artificial para dicha reconstrucción 3D. Para ello el alumno tendrá que realizar una búsqueda de estado del arte y realizar una comparación cuantitativa y cualitativa de las distintas técnicas existentes. Durante la realización de este trabajo el alumno programará aplicaciones de captura de imágenes de color y de profundidad de cámaras RGB-D tanto de luz estructurada como de tiempo de vuelo y realizará un caso práctico con diferentes técnicas de reconstrucción 3D., [EN] Three-dimensional reconstruction done by 3D artificial vision cameras are really used when remembering an object or scene is needed. Having access to an optimised three-dimensional model of the scanned object, allows users to visualize it, as many times as needed, catching missing information not taken on first look. This project gets information about methodologies used when building an artificial vision system, going deeper into stereovision, which is the technique used all along the project. The 3D cameras used on the project are commercial ones, Intel Realsense Depth Camera D415 and Microsoft Azure Kinect DK. Besides, software development has been done with Python 3.7 and RTABMap. After the reconstruction, models are analysed, extracting their advantages, drawbacks, and some characteristics where they are not different at all. 3D Models reconstructed from both cameras have been objectively compared assuring their strengths are known., [CA] Les reconstruccions tridimensionals realitzades amb càmeres de visió 3D son de gran utilitat a l’hora de recrear objectes o estàncies. Mitjançant un model tridimensional òptim, el objecte escanejat pot ser visualitzat tantes vegades con sigui necessari, recordant informació que amb la primera ullada no s’ha considerat rellevant. El projecte acull les diferents metodologies utilitzades per a crear sistemes de visió artificial, centrant-se a la estereovisió, tècnica utilitzada per a desenvolupar el projecte. Les càmeres utilitzades son els models comercials Intel Realsense Depth Camera D451 i la Microsoft Azure Kinect DK. Respecte el desenvolupament de software realitzat, ha segut implementat mitjançant Python 3.7 y RTABMap. Una vegada reconstruïts, els models son analitzats, definint els punts forts, febles y aquells aspectes que no varien respectivament. Així es comparen els models obtinguts amb les dues càmeres y es demostren els avantatges de les tècniques utilitzades.

[ES] El disponer de un equipo de bajo coste para la reconstrucción 3D de objetos y escenas presenta un gran interés en un gran número de industrias. El trabajo consistirá en la evaluación y análisis de diferentes sensores y técnicas de visión artificial para dicha reconstrucción 3D. Para ello el alumno tendrá que realizar una búsqueda de estado del arte y realizar una comparación cuantitativa y cualitativa de las distintas técnicas existentes. Durante la realización de este trabajo el alumno programará aplicaciones de captura de imágenes de color y de profundidad de cámaras RGB-D tanto de luz estructurada como de tiempo de vuelo y realizará un caso práctico con diferentes técnicas de reconstrucción 3D., [EN] Three-dimensional reconstruction done by 3D artificial vision cameras are really used when remembering an object or scene is needed. Having access to an optimised three-dimensional model of the scanned object, allows users to visualize it, as many times as needed, catching missing information not taken on first look. This project gets information about methodologies used when building an artificial vision system, going deeper into stereovision, which is the technique used all along the project. The 3D cameras used on the project are commercial ones, Intel Realsense Depth Camera D415 and Microsoft Azure Kinect DK. Besides, software development has been done with Python 3.7 and RTABMap. After the reconstruction, models are analysed, extracting their advantages, drawbacks, and some characteristics where they are not different at all. 3D Models reconstructed from both cameras have been objectively compared assuring their strengths are known., [CA] Les reconstruccions tridimensionals realitzades amb càmeres de visió 3D son de gran utilitat a l’hora de recrear objectes o estàncies. Mitjançant un model tridimensional òptim, el objecte escanejat pot ser visualitzat tantes vegades con sigui necessari, recordant informació que amb la primera ullada no s’ha considerat rellevant. El projecte acull les diferents metodologies utilitzades per a crear sistemes de visió artificial, centrant-se a la estereovisió, tècnica utilitzada per a desenvolupar el projecte. Les càmeres utilitzades son els models comercials Intel Realsense Depth Camera D451 i la Microsoft Azure Kinect DK. Respecte el desenvolupament de software realitzat, ha segut implementat mitjançant Python 3.7 y RTABMap. Una vegada reconstruïts, els models son analitzats, definint els punts forts, febles y aquells aspectes que no varien respectivament. Així es comparen els models obtinguts amb les dues càmeres y es demostren els avantatges de les tècniques utilitzades.

This paper describes several computer access methods tested by Eva, a woman with choreoathetosic cerebral palsy. This disease prevents her from controlling the peripherals and configurations that normally give access to information and communication technologies, further limiting her independence. To make Eva access a computer, we focused our efforts on the methodologies that Eva could control by just moving her neck and head. These sensors were: Kinect, inertial measurement units (IMU), and video. Kinect, composed of a system of cameras and sensors, gives the option to interact and control the devices contactlessly. The IMU is a device consisting of an accelerometer and a gyroscope that measure velocity, orientation, and gravitational forces. For live image processing, a common webcam was used. During the development of the experiment, Eva must follow a sequence shown on the computer screen that alternates movement of the head with rest. These movements involved moving the head up, down, right, or left. Our results showed that the Kinect system could not be used effectively, while the image-processing algorithm obtained the best performance.

This paper describes several computer access methods tested by Eva, a woman with choreoathetosic cerebral palsy. This disease prevents her from controlling the peripherals and configurations that normally give access to information and communication technologies, further limiting her independence. To make Eva access a computer, we focused our efforts on the methodologies that Eva could control by just moving her neck and head. These sensors were: Kinect, inertial measurement units (IMU), and video. Kinect, composed of a system of cameras and sensors, gives the option to interact and control the devices contactlessly. The IMU is a device consisting of an accelerometer and a gyroscope that measure velocity, orientation, and gravitational forces. For live image processing, a common webcam was used. During the development of the experiment, Eva must follow a sequence shown on the computer screen that alternates movement of the head with rest. These movements involved moving the head up, down, right, or left. Our results showed that the Kinect system could not be used effectively, while the image-processing algorithm obtained the best performance.

This paper describes several computer access methods tested by Eva, a woman with choreoathetosic cerebral palsy. This disease prevents her from controlling the peripherals and configurations that normally give access to information and communication technologies, further limiting her independence. To make Eva access a computer, we focused our efforts on the methodologies that Eva could control by just moving her neck and head. These sensors were: Kinect, inertial measurement units (IMU), and video. Kinect, composed of a system of cameras and sensors, gives the option to interact and control the devices contactlessly. The IMU is a device consisting of an accelerometer and a gyroscope that measure velocity, orientation, and gravitational forces. For live image processing, a common webcam was used. During the development of the experiment, Eva must follow a sequence shown on the computer screen that alternates movement of the head with rest. These movements involved moving the head up, down, right, or left. Our results showed that the Kinect system could not be used effectively, while the image-processing algorithm obtained the best performance.

The content of this document presents a solution to the main objective of the project: the creation of a bidirectional telepresence system. This system should allow two people to see each other through virtual reality glasses, in real time, as if they were facing each other, in 3D and with consistent geometric proportions, as if they were in the same room. It must also allow the users to move around within the scene. The different options that have been considered will be displayed, as well as the implementation strategy chosen. The final system is integrated with ROS, Linux, Unity, HTC Vive virtual reality glasses and one computer per user. The reason for this choice is detailed later in this report, but we can advance that it is for technical reasons that allow the continuity of this project. Finally, some examples of operation with captures made on the corresponding devices are included., El contenido de este documento presenta una solución al principal objetivo del proyecto: la creación de un sistema bidireccional de telepresencia. Este sistema debe permitir que dos personas puedan verse mediante unas gafas de realidad virtual, en tiempo real, una delante de la otra, en 3D y con proporciones geométricas coherentes, como si estuvieran en la misma sala. También debe permitir la movilidad dentro de la escena generada. Se mostrarán las diferentes opciones que han sido consideradas, así como la solución elegida. El sistema final está integrado con ROS, Linux, Unity, gafas de realidad virtual HTC Vive y un ordenador por usuario. El motivo de esta elección se detalla más adelante en este informe, pero podemos adelantar que es por cuestiones técnicas que permiten la continuidad de este proyecto. Finalmente, se incluyen algunos ejemplos de funcionamiento con capturas realizadas a los correspondientes dispositivos. ?, El contingut d?aquest document presenta una solució al principal objectiu del projecte: la creació d?un sistema bidireccional de telepresència. Aquest sistema ha de permetre que dues persones es puguin veure mitjançant unes ulleres de realitat virtual, en temps real, una davant de l?altra, en 3D i amb proporcions geomètriques coherents, com si estiguessin a la mateixa sala. També ens ha de permetre la mobilitat dins de l?escena generada. Es mostraran les diferents opcions que han estat considerades, així com la solució que s?ha escollit. El sistema final està integrat amb ROS, Linux, Unity, ulleres de realitat virtual HTC Vive i un ordinador per usuari. El motiu d?aquesta elecció es detalla més endavant en aquest informe, però podem avançar que és per qüestions tècniques que permeten la continuïtat d?aquest projecte. Finalment, s?inclouen alguns exemples de funcionament amb captures realitzades als corresponents dispositius.

The classification of different human activities with radar has been a widely researched topic in recent years. Oftentimes, when no experimental data is available, simulated data can be exploited to test classification algorithms. Kinematic models such as the Thalmann Model and motion capture (MOCAP) data are frequently used to simulate radar signatures of human movements. While the Thalmann Model provides a model only for human walking, MOCAP data has the capability to supply data for almost any type of human activity. However, most commercial MOCAP data acquisition systems are quite expensive, making it difficult to obtain MOCAP data. In this paper, economical, easily obtainable and practical Kinect sensor is used to develop a skeleton tracking algorithm. In this way, simulated radar micro-Doppler signatures for different people and activities are computed., IEEE, Karadeniz Tech Univ, Dept Comp Engn ; Elect ; Elect Engn

The classification of different human activities with radar has been a widely researched topic in recent years. Oftentimes, when no experimental data is available, simulated data can be exploited to test classification algorithms. Kinematic models such as the Thalmann Model and motion capture (MOCAP) data are frequently used to simulate radar signatures of human movements. While the Thalmann Model provides a model only for human walking, MOCAP data has the capability to supply data for almost any type of human activity. However, most commercial MOCAP data acquisition systems are quite expensive, making it difficult to obtain MOCAP data. In this paper, economical, easily obtainable and practical Kinect sensor is used to develop a skeleton tracking algorithm. In this way, simulated radar micro-Doppler signatures for different people and activities are computed., IEEE, Karadeniz Tech Univ, Dept Comp Engn ; Elect ; Elect Engn

This paper describes several computer access methods tested by Eva, a woman with choreoathetosic cerebral palsy. This disease prevents her from controlling the peripherals and configurations that normally give access to information and communication technologies, further limiting her independence. To make Eva access a computer, we focused our efforts on the methodologies that Eva could control by just moving her neck and head. These sensors were: Kinect, inertial measurement units (IMU), and video. Kinect, composed of a system of cameras and sensors, gives the option to interact and control the devices contactlessly. The IMU is a device consisting of an accelerometer and a gyroscope that measure velocity, orientation, and gravitational forces. For live image processing, a common webcam was used. During the development of the experiment, Eva must follow a sequence shown on the computer screen that alternates movement of the head with rest. These movements involved moving the head up, down, right, or left. Our results showed that the Kinect system could not be used effectively, while the image-processing algorithm obtained the best performance.

[Resumo] Este proxecto busca crear unha metodoloxía para que, da forma máis automática posible, reconstruír un modelo 3D dun entorno que se poida empregar en ferramentas de edición 3D. O sistema parte da información de varios sensores (nube de puntos) montados nun robot que se despraza para cubrir todo o entorno de interés. Estos puntos son integrados mediante un software de mapeado e localización simultánea (RTABMap). A nube de puntos final procésase ata obter unha modelo 3D do entorno que se poida editar con ferramentas tipo Blender ou Unity para crear outras aplicacións: simplificación no deseño de videoxogos, recreación de entornos, simuladores de robótica ou realidade virtual. Os sensores empregados son cámaras RGBD (Kinect v1) que xeneran información da cor (r,g,b) e xeométrica (x,y,z), o que permite modelar e texturizar o entorno de maneira simultánea. A precisión das Kinects (a nivel de centímetro) permite obter modelos 3D aceptables para os nosos propósitos, pero non acada resolución suficiente para xenerar modelos hiperrealistas. A fase máis complexa foi a integración das nubes de puntos. Seleccionouse RTABMap pola súa flexibilidade e robustez, aínda que a súa función consiste en crear mapas do entorno, non modelos. Os principais retos foron: manexar o altísimo volumen de datos que xeneran as Kinects, almacenar esa información, procesala en tempo real, calcular a posición relativa dos sensores e encontrar os parámetros apropiados para que RTABMap poidese procesar as nubes de puntos minimizando os erros e problemas e aumentando a precisión. A última fase consistiu en procesar a nube de puntos final que xenera RTABMap. Creáronse os algoritmos necesarios para análise dos datos e a preparación dos sistemas para eliminar os datos redundantes, simplificar o número de punto e finalmente obter superficies facilmente modelables (neste caso mediante mallas). As probas en entornos reais demostran que os resultados finais acadados posúen unha calidade moi aceptable., [Abstract] This project seeks to create a methodology that, in the most automatic way possible, allows the construction of a 3D model of the environment that can be use in 3D editing tools. The system starts with the information of multiple sensors (point cloud) mounted on a robot that moves to cover the entire region of interest. These points are integrated using simultaneous mapping and location software (Rtabmap). The final point cloud is processed in order to obtain a 3D model of the enviroment that can be edited with Blender or Unity in order to create other applications: simplification in video game design, recretion of enviroments, robotics simulators or virtual reality. The sensors used are RGBD cameras (like Kinect v1) that can provide both color (r,g,b) and geometric (x,y,z) information, allowing us to both model and texture the environment simultaneously. The kinect accuracy (at the centimeter level) allows us to obtain acceptables 3D models for our purposes, but it does not get enough resolution to generate hyper-realistic models. The most complex phase was the integration of point clouds.RTABMap was selected for its flexibility and robustness, although its function is to create maps of the environment, not models. The main challenges were: handling the very high volume of data generated by Kinects, storing that information, processing it in real time, calculating the relative position of sensors and finding the appropriate parameters for RTABMap to process point clouds minimizing errors and problems and increasing the accuracy. The last phase was to process the final point cloud generated by RTABMap. The necessary algorithms have been created for data analysis and the preparation of systems to eliminate redundant data, simplify the point number and finally obtain easily modelable surfaces (in this case, using meshes). Tests in real environments show that the final results achieved have a very acceptable quality.

This paper describes several computer access methods tested by Eva, a woman with choreoathetosic cerebral palsy. This disease prevents her from controlling the peripherals and configurations that normally give access to information and communication technologies, further limiting her independence. To make Eva access a computer, we focused our efforts on the methodologies that Eva could control by just moving her neck and head. These sensors were: Kinect, inertial measurement units (IMU), and video. Kinect, composed of a system of cameras and sensors, gives the option to interact and control the devices contactlessly. The IMU is a device consisting of an accelerometer and a gyroscope that measure velocity, orientation, and gravitational forces. For live image processing, a common webcam was used. During the development of the experiment, Eva must follow a sequence shown on the computer screen that alternates movement of the head with rest. These movements involved moving the head up, down, right, or left. Our results showed that the Kinect system could not be used effectively, while the image-processing algorithm obtained the best performance.

Gesture based interaction has been used for several years now. Different proposals have been given for prior use with this type of process. Benefits were approached, specially focused on training, for improving the quality of education. Because of this, this article is based on this process used for educational purposes, with the case of spelling. For its development, an inductive study of the participants was carried out with the application. The results confirm the validity of the idea and the development of the proposal. In addition, participants stated their opinions about the application through contactless interaction. As a result, the use of this type of applications could encourage an increase in student interest in learning., La interacción basada en gestos sin contacto se ha utilizado desde ya hace varios años atrás. Diferentes propuestas se han dado, para la previa utilización con este tipo de proceso. Se fueron abordando beneficios, prácticamente enfocados en el ámbito formativo, para el mejoramiento de la calidad de la educación. Debido a esto, este artículo tiene como fundamento emplear este proceso con fines educativos, con es el caso de la ortografía. Para el desarrollo del mismo, se llevó a cabo un estudio inductivo de los participantes con la aplicación. Los resultados obtenidos confirman la validez de la idea y desarrollo de la propuesta. Además, los participantes declararon sus opiniones acerca de la aplicación mediante interacción sin contacto. Como resultado, la utilización de este tipo de aplicaciones podría fomentar al incremento del interés de los estudiantes en el aprendizaje.

Producción Científica, Driver’s gaze information can be crucial in driving research because of its relation to driver attention. Particularly, the inclusion of gaze data in driving simulators broadens the scope of research studies as they can relate drivers’ gaze patterns to their features and performance. In this paper, we present two gaze region estimation modules integrated in a driving simulator. One uses the 3D Kinect device and another uses the virtual reality Oculus Rift device. The modules are able to detect the region, out of seven in which the driving scene was divided, where a driver is gazing at in every route processed frame. Four methods were implemented and compared for gaze estimation, which learn the relation between gaze displacement and head movement. Two are simpler and based on points that try to capture this relation and two are based on classifiers such as MLP and SVM. Experiments were carried out with 12 users that drove on the same scenario twice, each one with a different visualization display, first with a big screen and later with Oculus Rift. On the whole, Oculus Rift outperformed Kinect as the best hardware for gaze estimation. The Oculus-based gaze region estimation method with the highest performance achieved an accuracy of 97.94%. The information provided by the Oculus Rift module enriches the driving simulator data and makes it possible a multimodal driving performance analysis apart from the immersion and realism obtained with the virtual reality experience provided by Oculus., Dirección General de Tráfico y Ministerio del Interior - (Proyecto SPIP2015-01801)

[EN] Background Accurate assessment of balance and gait is necessary to monitor the clinical progress of Parkinson's disease (PD). Conventional clinical scales can be biased and have limited accuracy. Novel interactive devices are potentially useful to detect subtle posture or gait-related impairments. Methods Posturographic and single and dual-task gait assessments were performed to 54 individuals with PD and 43 healthy controls with the Wii Balance Board and the Kinect v2 and the, respectively. Individuals with PD were also assessed with the Tinetti Performance Oriented Mobility Assessment, the Functional Gait Assessment and the 10-m Walking Test. The influence of demographic and clinical variables on the performance in the instrumented posturographic and gait tests, the sensitivity of these tests to the clinical condition and phenotypes, and their convergent validity with clinical scales were investigated. Results Individuals with PD in H&Y I and I.5 stages showed similar performance to controls. The greatest differences in posture and gait were found between subjects in H&Y II.5 and H&Y I-I.5 stage, as well as controls. Dual-tasking enhanced the differences among all groups in gait parameters. Akinetic/rigid phenotype showed worse postural control and gait than other phenotypes. High significant correlations were found between the limits of stability and most of gait parameters with the clinical scales. Conclusions Low-cost devices showed potential to objectively quantify posture and gait in established PD (H&Y >= II). Dual-tasking gait evaluation was more sensitive to detect differences among PD stages and compared to controls than free gait. Gait and posture were more impaired in akinetic/rigid PD.

[EN] Background Accurate assessment of balance and gait is necessary to monitor the clinical progress of Parkinson's disease (PD). Conventional clinical scales can be biased and have limited accuracy. Novel interactive devices are potentially useful to detect subtle posture or gait-related impairments. Methods Posturographic and single and dual-task gait assessments were performed to 54 individuals with PD and 43 healthy controls with the Wii Balance Board and the Kinect v2 and the, respectively. Individuals with PD were also assessed with the Tinetti Performance Oriented Mobility Assessment, the Functional Gait Assessment and the 10-m Walking Test. The influence of demographic and clinical variables on the performance in the instrumented posturographic and gait tests, the sensitivity of these tests to the clinical condition and phenotypes, and their convergent validity with clinical scales were investigated. Results Individuals with PD in H&Y I and I.5 stages showed similar performance to controls. The greatest differences in posture and gait were found between subjects in H&Y II.5 and H&Y I-I.5 stage, as well as controls. Dual-tasking enhanced the differences among all groups in gait parameters. Akinetic/rigid phenotype showed worse postural control and gait than other phenotypes. High significant correlations were found between the limits of stability and most of gait parameters with the clinical scales. Conclusions Low-cost devices showed potential to objectively quantify posture and gait in established PD (H&Y >= II). Dual-tasking gait evaluation was more sensitive to detect differences among PD stages and compared to controls than free gait. Gait and posture were more impaired in akinetic/rigid PD.

Biological motion is a powerful perceptual cue that can reveal important information about the inner state of an individual. Activation of inflammatory processes likely leads to changes in gait, posture, and mobility patterns, but the specific characteristics of inflammation-related biological motion have not been characterized. The aim of this study was to determine the effect of inflammation on gait and motion in humans. Systemic inflammation was induced in 19 healthy volunteers with an intravenous injection of lipopolysaccharide (2 ng/kg body weight). Biological motion parameters (walking speed, stride length and time, arm, leg, head, and shoulder angles) were assessed during a walking paradigm and the timed-up-and-go test. Cytokine concentrations, body temperature, and sickness symptoms were measured. During inflammation, compared to placebo, participants exhibited shorter, slower, and wider strides, less arm extension, less knee flexion, and a more downward-tilting head while walking. They were also slower and took a shorter First step in the timed-up-and-go test. Higher interleukin-6 concentrations, stronger sickness symptoms, and lower body temperature predicted the inflammation-related alterations in biological motion. These findings show that biological motion contains clear information about the inflammatory status of an individual, and may be used by peers or artificial intelligence to recognize that someone is sick or contagious.

The objective of this thesis is to teach a Baxter robot to learn certain arm trajectories. The robot must be capable of generalizing the primitive movement of the trajectory to new unseen poses. The thesis is framed within a robotized kitchen project with aims to help people with mobility problems. To solve this problem end, a human will record demonstrations, which will be translated to the robots’ morphology using an Inverse Kinematics (IK) module. For the learning part Dynamic Movement Primitives (DMP) will be used, due to their capability to take profit of human experience. The proposed system works in the majority of the scenarios, but, it would be expected to behave better when generalizing to new orientations of the arm. However a proposal has been suggested to correct this issue.

Inostrana istraživanja pokazuju da samo 10% osoba s intelektualnom ometenošću ima pristup asistivnim produktima. Zbog toga je Svetska zdravstvena organizacija 2014. godine pokrenula promotivni program “Globalna saradnja na upotrebi asistivnih tehnologija” (Global Cooperation on Assistive Technology -GATE). Tim programom implementiraju se delovi Konvencije Ujedinjenih nacija o pravima osoba s invaliditetom koji se odnose na asistivnu tehnologiju. Cilj ovog programa je da se osobama različite starosne dobi i kategorije intelektualne ometenosti poboljša pristup visokokvalitetnim, dostupnim asistivnim produktima. Kao prvi korak u ostvarivanju tog cilja napravljena je lista prioritetnih asistivnih proizvoda čija se upotreba predlaže zemljama članicama Svetske zdravstvene organizacije. Neki od predloženih proizvoda asistivne tehnologije odnosili su se na pokretnu grafiku i Kinect. Istraživanja dokazuju da je primena pokretne grafike i Kinect-a kod učenika osnovnoškolskog uzrasta sa lakom i umerenom intelektualnom ometenošću značajno uticala na kvalitet izvođenja grubomotoričkih-lokomotornih sposobnosti, prevashodno skoka, galopa, skakanja po horizontali, preskakanja i bočnog kretanja. Imajući u vidu specifičnost razumevanja kinestetičkih naloga kod učenika s intelektualnom ometenošću, u navedena sredstva asistivne tehnologije moguće je, na početku igre, uvesti dinamičku funkciju prilagođavanja težine zahteva u skladu sa sposobnostima učenika. To je slučaj kada se igra prilagođava maksimalnoj visini do koje učenik može da skoči, u odnosu na prethodno procenjen kvalitet lokomotornih sposobnosti. Kako ne bi došlo do automatizacije pri izvođenju zadataka, moguće je menjati složenost kinestetičke tražnje, nasumično, ili strukturisano. Kvalitet sposobnosti lokomotornih veština procenjen uz pomoć pokretne grafike i Kinect-a moguće je inkorporirati najpre u pedagoški profil učenika s intelektualnom ometenošću, a potom odrediti potrebe za podrškom i mere individualizacije u zoni p

Since the upper cervical spine (UCS) has been regarded to be distinct from the lower cervical spine (LCS), joint position error (JPE) needs to be tested separately for both regions. The purpose of this study was to investigate the JPE after cervical protraction/retraction movements, involving opposite movements of extension and flexion for the UCS and LCS. These movements are frequently performed during office work. Cervical JPEs were tracked in thirty healthy office workers while performing four tests of cervical pro-retraction movements with variations in vision and movement direction, and assessed using the Kinect head tracker (Microsoft Corp), placed in front of each participant. The JPE was expressed in constant (CE), absolute (AE) and variable errors (VE). Multilevel linear models evaluated main and interaction effects of vision, movement direction, cervical region and sex. Slightly larger JPEs have been found in the UCS. Vision showed no effect on any outcome variable. No effect exceeded typical measurement errors reported for the Kinect head tracker. This study showed, that JPEs after pro-retraction movements of the head and neck may differ for UCS and LCS. The differences were small and not beyond measurement error reported for the Kinect.

Gesture based interaction has been used for several years now. Different proposals have been given for prior use with this type of process. Benefits were approached, specially focused on training, for improving the quality of education. Because of this, this article is based on this process used for educational purposes, with the case of spelling. For its development, an inductive study of the participants was carried out with the application. The results confirm the validity of the idea and the development of the proposal. In addition, participants stated their opinions about the application through contactless interaction. As a result, the use of this type of applications could encourage an increase in student interest in learning., La interacción basada en gestos sin contacto se ha utilizado desde ya hace varios años atrás. Diferentes propuestas se han dado, para la previa utilización con este tipo de proceso. Se fueron abordando beneficios, prácticamente enfocados en el ámbito formativo, para el mejoramiento de la calidad de la educación. Debido a esto, este artículo tiene como fundamento emplear este proceso con fines educativos, con es el caso de la ortografía. Para el desarrollo del mismo, se llevó a cabo un estudio inductivo de los participantes con la aplicación. Los resultados obtenidos confirman la validez de la idea y desarrollo de la propuesta. Además, los participantes declararon sus opiniones acerca de la aplicación mediante interacción sin contacto. Como resultado, la utilización de este tipo de aplicaciones podría fomentar al incremento del interés de los estudiantes en el aprendizaje.

Gesture based interaction has been used for several years now. Different proposals have been given for prior use with this type of process. Benefits were approached, specially focused on training, for improving the quality of education. Because of this, this article is based on this process used for educational purposes, with the case of spelling. For its development, an inductive study of the participants was carried out with the application. The results confirm the validity of the idea and the development of the proposal. In addition, participants stated their opinions about the application through contactless interaction. As a result, the use of this type of applications could encourage an increase in student interest in learning., La interacción basada en gestos sin contacto se ha utilizado desde ya hace varios años atrás. Diferentes propuestas se han dado, para la previa utilización con este tipo de proceso. Se fueron abordando beneficios, prácticamente enfocados en el ámbito formativo, para el mejoramiento de la calidad de la educación. Debido a esto, este artículo tiene como fundamento emplear este proceso con fines educativos, con es el caso de la ortografía. Para el desarrollo del mismo, se llevó a cabo un estudio inductivo de los participantes con la aplicación. Los resultados obtenidos confirman la validez de la idea y desarrollo de la propuesta. Además, los participantes declararon sus opiniones acerca de la aplicación mediante interacción sin contacto. Como resultado, la utilización de este tipo de aplicaciones podría fomentar al incremento del interés de los estudiantes en el aprendizaje.

This study aimed at understanding the behavior of the 3D scanning by structured infrared light when scanning objects that are behind transparent materials. The following questions were addressed: What are the errors found on the surface generated by 3D scanning through several transparent materials? Is it feasible to use the data gathered to collect anthropometric measurements? To answer these questions an experiment was carried out in which the same object was scanned through different transparent surfaces in different situations. As a result, four types of errors were found in the scan: occlusion, superficial quality, closure and reflection. Furthermore, it was also possible to prove the usability of these surfaces for taking anthropometric measurements of large and medium body parts as defined by ISO 20685:2010., Este estudo objetivou compreender o comportamento do escaneamento 3D por luz infravermelha estruturada, ao digitalizar objetos que estão atrás de materiais transparentes. Problematizam-se as seguintes questões: Quais os erros encontrados em superfície gerada por escaneamento 3D através de diversos materiais transparentes? É viável a utilização desses dados para coleta de medidas? Para responder a essas perguntas realizou-se um experimento no qual se digitalizou um mesmo objeto através de diferentes superfícies transparentes em diferentes situações. Como resultados foram encontrados quatro tipos de erros no escaneamento: oclusão, qualidade superficial, fechamento e reflexo. Além disso também foi possível comprovar a usabilidade dessas superfícies digitalizadas na realização de medidas antropométricas de grandes e médias partes do corpo, conforme definido pela ISO 20685:2010., Este estudio tuvo como objetivo comprender el comportamiento del escaneo 3D mediante luz infrarroja estructurada al escanear objetos que están detrás de materiales transparentes. Se hicieron las siguientes preguntas: ¿Cuáles son los errores encontrados en la superficie generada por el escaneo 3D a través de varios materiales transparentes? ¿Es factible utilizar estos datos para recopilar mediciones? Para responder a estas preguntas, se realizó un experimento en el que se escaneó el mismo objeto a través de diferentes superficies transparentes en diferentes situaciones. Como resultado, se encontraron cuatro tipos de errores: oclusión, calidad de la superficie, cierre y reflejo. Además, también fue posible probar la usabilidad de estas superficies digitalizadas al realizar mediciones antropométricas de partes del cuerpo grandes y medianas según la definición de ISO 20685:2010.

Producción Científica, Driver’s gaze information can be crucial in driving research because of its relation to driver attention. Particularly, the inclusion of gaze data in driving simulators broadens the scope of research studies as they can relate drivers’ gaze patterns to their features and performance. In this paper, we present two gaze region estimation modules integrated in a driving simulator. One uses the 3D Kinect device and another uses the virtual reality Oculus Rift device. The modules are able to detect the region, out of seven in which the driving scene was divided, where a driver is gazing at in every route processed frame. Four methods were implemented and compared for gaze estimation, which learn the relation between gaze displacement and head movement. Two are simpler and based on points that try to capture this relation and two are based on classifiers such as MLP and SVM. Experiments were carried out with 12 users that drove on the same scenario twice, each one with a different visualization display, first with a big screen and later with Oculus Rift. On the whole, Oculus Rift outperformed Kinect as the best hardware for gaze estimation. The Oculus-based gaze region estimation method with the highest performance achieved an accuracy of 97.94%. The information provided by the Oculus Rift module enriches the driving simulator data and makes it possible a multimodal driving performance analysis apart from the immersion and realism obtained with the virtual reality experience provided by Oculus., Dirección General de Tráfico y Ministerio del Interior - (Proyecto SPIP2015-01801)

Gesture based interaction has been used for several years now. Different proposals have been given for prior use with this type of process. Benefits were approached, specially focused on training, for improving the quality of education. Because of this, this article is based on this process used for educational purposes, with the case of spelling. For its development, an inductive study of the participants was carried out with the application. The results confirm the validity of the idea and the development of the proposal. In addition, participants stated their opinions about the application through contactless interaction. As a result, the use of this type of applications could encourage an increase in student interest in learning., La interacción basada en gestos sin contacto se ha utilizado desde ya hace varios años atrás. Diferentes propuestas se han dado, para la previa utilización con este tipo de proceso. Se fueron abordando beneficios, prácticamente enfocados en el ámbito formativo, para el mejoramiento de la calidad de la educación. Debido a esto, este artículo tiene como fundamento emplear este proceso con fines educativos, con es el caso de la ortografía. Para el desarrollo del mismo, se llevó a cabo un estudio inductivo de los participantes con la aplicación. Los resultados obtenidos confirman la validez de la idea y desarrollo de la propuesta. Además, los participantes declararon sus opiniones acerca de la aplicación mediante interacción sin contacto. Como resultado, la utilización de este tipo de aplicaciones podría fomentar al incremento del interés de los estudiantes en el aprendizaje.

Producción Científica, Driver’s gaze information can be crucial in driving research because of its relation to driver attention. Particularly, the inclusion of gaze data in driving simulators broadens the scope of research studies as they can relate drivers’ gaze patterns to their features and performance. In this paper, we present two gaze region estimation modules integrated in a driving simulator. One uses the 3D Kinect device and another uses the virtual reality Oculus Rift device. The modules are able to detect the region, out of seven in which the driving scene was divided, where a driver is gazing at in every route processed frame. Four methods were implemented and compared for gaze estimation, which learn the relation between gaze displacement and head movement. Two are simpler and based on points that try to capture this relation and two are based on classifiers such as MLP and SVM. Experiments were carried out with 12 users that drove on the same scenario twice, each one with a different visualization display, first with a big screen and later with Oculus Rift. On the whole, Oculus Rift outperformed Kinect as the best hardware for gaze estimation. The Oculus-based gaze region estimation method with the highest performance achieved an accuracy of 97.94%. The information provided by the Oculus Rift module enriches the driving simulator data and makes it possible a multimodal driving performance analysis apart from the immersion and realism obtained with the virtual reality experience provided by Oculus., Dirección General de Tráfico y Ministerio del Interior - (Proyecto SPIP2015-01801)

The objective of this thesis is to teach a Baxter robot to learn certain arm trajectories. The robot must be capable of generalizing the primitive movement of the trajectory to new unseen poses. The thesis is framed within a robotized kitchen project with aims to help people with mobility problems. To solve this problem end, a human will record demonstrations, which will be translated to the robots’ morphology using an Inverse Kinematics (IK) module. For the learning part Dynamic Movement Primitives (DMP) will be used, due to their capability to take profit of human experience. The proposed system works in the majority of the scenarios, but, it would be expected to behave better when generalizing to new orientations of the arm. However a proposal has been suggested to correct this issue.

Inostrana istraživanja pokazuju da samo 10% osoba s intelektualnom ometenošću ima pristup asistivnim produktima. Zbog toga je Svetska zdravstvena organizacija 2014. godine pokrenula promotivni program “Globalna saradnja na upotrebi asistivnih tehnologija” (Global Cooperation on Assistive Technology -GATE). Tim programom implementiraju se delovi Konvencije Ujedinjenih nacija o pravima osoba s invaliditetom koji se odnose na asistivnu tehnologiju. Cilj ovog programa je da se osobama različite starosne dobi i kategorije intelektualne ometenosti poboljša pristup visokokvalitetnim, dostupnim asistivnim produktima. Kao prvi korak u ostvarivanju tog cilja napravljena je lista prioritetnih asistivnih proizvoda čija se upotreba predlaže zemljama članicama Svetske zdravstvene organizacije. Neki od predloženih proizvoda asistivne tehnologije odnosili su se na pokretnu grafiku i Kinect. Istraživanja dokazuju da je primena pokretne grafike i Kinect-a kod učenika osnovnoškolskog uzrasta sa lakom i umerenom intelektualnom ometenošću značajno uticala na kvalitet izvođenja grubomotoričkih-lokomotornih sposobnosti, prevashodno skoka, galopa, skakanja po horizontali, preskakanja i bočnog kretanja. Imajući u vidu specifičnost razumevanja kinestetičkih naloga kod učenika s intelektualnom ometenošću, u navedena sredstva asistivne tehnologije moguće je, na početku igre, uvesti dinamičku funkciju prilagođavanja težine zahteva u skladu sa sposobnostima učenika. To je slučaj kada se igra prilagođava maksimalnoj visini do koje učenik može da skoči, u odnosu na prethodno procenjen kvalitet lokomotornih sposobnosti. Kako ne bi došlo do automatizacije pri izvođenju zadataka, moguće je menjati složenost kinestetičke tražnje, nasumično, ili strukturisano. Kvalitet sposobnosti lokomotornih veština procenjen uz pomoć pokretne grafike i Kinect-a moguće je inkorporirati najpre u pedagoški profil učenika s intelektualnom ometenošću, a potom odrediti potrebe za podrškom i mere individualizacije u zoni p

Gesture based interaction has been used for several years now. Different proposals have been given for prior use with this type of process. Benefits were approached, specially focused on training, for improving the quality of education. Because of this, this article is based on this process used for educational purposes, with the case of spelling. For its development, an inductive study of the participants was carried out with the application. The results confirm the validity of the idea and the development of the proposal. In addition, participants stated their opinions about the application through contactless interaction. As a result, the use of this type of applications could encourage an increase in student interest in learning., La interacción basada en gestos sin contacto se ha utilizado desde ya hace varios años atrás. Diferentes propuestas se han dado, para la previa utilización con este tipo de proceso. Se fueron abordando beneficios, prácticamente enfocados en el ámbito formativo, para el mejoramiento de la calidad de la educación. Debido a esto, este artículo tiene como fundamento emplear este proceso con fines educativos, con es el caso de la ortografía. Para el desarrollo del mismo, se llevó a cabo un estudio inductivo de los participantes con la aplicación. Los resultados obtenidos confirman la validez de la idea y desarrollo de la propuesta. Además, los participantes declararon sus opiniones acerca de la aplicación mediante interacción sin contacto. Como resultado, la utilización de este tipo de aplicaciones podría fomentar al incremento del interés de los estudiantes en el aprendizaje.

Este estudo objetivou compreender o comportamento do escaneamento 3D por luz infravermelha estruturada, ao digitalizar objetos que estão atrás de materiais transparentes. Problematizam-se as seguintes questões: Quais os erros encontrados em superfície gerada por escaneamento 3D através de diversos materiais transparentes? É viável a utilização desses dados para coleta de medidas? Para responder a essas perguntas realizou-se um experimento no qual se digitalizou um mesmo objeto através de diferentes superfícies transparentes em diferentes situações. Como resultados foram encontrados quatro tipos de erros no escaneamento: oclusão, qualidade superficial, fechamento e reflexo. Além disso também foi possível comprovar a usabilidade dessas superfícies digitalizadas na realização de medidas antropométricas de grandes e médias partes do corpo, conforme definido pela ISO 20685:2010., This study aimed at understanding the behavior of the 3D scanning by structured infrared light when scanning objects that are behind transparent materials. The following questions were addressed: What are the errors found on the surface generated by 3D scanning through several transparent materials? Is it feasible to use the data gathered to collect anthropometric measurements? To answer these questions an experiment was carried out in which the same object was scanned through different transparent surfaces in different situations. As a result, four types of errors were found in the scan: occlusion, superficial quality, closure and reflection. Furthermore, it was also possible to prove the usability of these surfaces for taking anthropometric measurements of large and medium body parts as defined by ISO 20685:2010., Este estudio tuvo como objetivo comprender el comportamiento del escaneo 3D mediante luz infrarroja estructurada al escanear objetos que están detrás de materiales transparentes. Se hicieron las siguientes preguntas: ¿Cuáles son los errores encontrados en la superficie generada por el escaneo 3D a través de varios materiales transparentes? ¿Es factible utilizar estos datos para recopilar mediciones? Para responder a estas preguntas, se realizó un experimento en el que se escaneó el mismo objeto a través de diferentes superficies transparentes en diferentes situaciones. Como resultado, se encontraron cuatro tipos de errores: oclusión, calidad de la superficie, cierre y reflejo. Además, también fue posible probar la usabilidad de estas superficies digitalizadas al realizar mediciones antropométricas de partes del cuerpo grandes y medianas según la definición de ISO 20685:2010.

Since the upper cervical spine (UCS) has been regarded to be distinct from the lower cervical spine (LCS), joint position error (JPE) needs to be tested separately for both regions. The purpose of this study was to investigate the JPE after cervical protraction/retraction movements, involving opposite movements of extension and flexion for the UCS and LCS. These movements are frequently performed during office work. Cervical JPEs were tracked in thirty healthy office workers while performing four tests of cervical pro-retraction movements with variations in vision and movement direction, and assessed using the Kinect head tracker (Microsoft Corp), placed in front of each participant. The JPE was expressed in constant (CE), absolute (AE) and variable errors (VE). Multilevel linear models evaluated main and interaction effects of vision, movement direction, cervical region and sex. Slightly larger JPEs have been found in the UCS. Vision showed no effect on any outcome variable. No effect exceeded typical measurement errors reported for the Kinect head tracker. This study showed, that JPEs after pro-retraction movements of the head and neck may differ for UCS and LCS. The differences were small and not beyond measurement error reported for the Kinect.

Este trabajo analiza aspectos relacionados con el aprendizaje incorporado y el uso de herramientas tecnológicas multisensoriales para fomentar espacios de aprendizaje inclusivos. Para ello, este trabajo se centra en la evaluación de un curso formativo, desarrollado en el marco del proyecto europeo INTELed dirigido a 25 maestras/as en activo. Del análisis de los resultados recogidos a partir de cuestionarios, observaciones y el análisis de los artefactos elaborados por los maestros/as se han podido extraer algunos beneficios que muestran que los maestros/as valoran el uso de este tipo de herramientas en el aula para el desarrollo de aspectos cognitivos, motrices y sociales de niños/as con distintas necesidades de atención educativa. Asimismo, se han identificado importantes limitaciones que tienen que ver con la adopción de estos recursos en entornos de aprendizaje más inclusivos., Grado en Educación Infantil