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We provide an experimental evaluation of a wearable augmented reality (AR) system we have developed for human-robot teams working on tasks requiring collaboration in shared physical workspace. Recent advances in AR technology have facilitated the development of more intuitive user interfaces for many human-robot interaction applications. While it has been anticipated that AR can provide a more intuitive interface to robot assistants helping human workers in various manufacturing scenarios, existing studies in robotics have been largely limited to teleoperation and programming. Industry 5.0 envisions cooperation between human and robot working in teams. Indeed, there exist many industrial tasks that can benefit from human-robot collaboration. A prime example is high-value composite manufacturing. Working with our industry partner towards this example application, we evaluated our AR interface design for shared physical workspace collaboration in human-robot teams. We conducted a multi-dimensional analysis of our interface using established metrics. Results from our user study (n = 26) show that, subjectively, the AR interface feels more novel and a standard joystick interface feels more dependable to users. However, the AR interface was found to reduce physical demand and task completion time, while increasing robot utilization. Furthermore, user's freedom of choice to collaborate with the robot may also affect the perceived usability of the system. [ABSTRACT FROM AUTHOR]

Pushrim-activated power-assisted wheels (PAPAWs) are assistive technologies that provide on-demand propulsion assistance to wheelchair users. In this study, we aimed to develop an adaptive PAPAW controller that responds effectively to changes in environmental conditions (e.g., type of surface or terrain). Experiments were conducted to collect kinematics of wheelchair motion using a frame-mounted inertial measurement unit (IMU) while performing a variety of wheelchair activities on different indoor/outdoor terrains. Statistical characteristics of velocity and acceleration measurements were extracted and used to develop a terrain classification framework to identify certain indoor and outdoor terrains. The terrain classification framework, based on random forest classification algorithms and kinematic features, was implemented and tested in our laboratory-developed PAPAW. This computationally efficient terrain classification framework was successfully implemented and tested in real-time. The power-assist ratio of each wheel was adjusted based on the type of terrain (e.g., more assistance was provided on outdoor terrains). Our findings revealed that propulsion effort (e.g., peak input torque) on asphalt was significantly reduced when using adaptive controllers compared to conventional PAPAW controllers. In addition, subjective views of participants regarding the workload of wheelchair propulsion (e.g., physical/cognitive effort) supported the positive effects of adaptive PAPAW controllers. We believe that the adoption of terrain-specific adaptive controllers has the potential to improve the accessibility of outdoor terrains and to prevent or delay upper extremity joint degeneration or pain. [ABSTRACT FROM AUTHOR]

Pushrim-activated power-assisted wheel (PAPAW) users ideally require different levels of assistance depending on activity and preference. Therefore, it is important to design and develop adaptive PAPAW controllers to account for these differences. The main objective of this work was to integrate a user intention estimation framework into a PAPAW and develop personalized adaptive controllers. We performed experiments to gather kinetics of wheelchair propulsion for a variety of daily life wheelchair activities. The propulsion characteristics (i.e., pushrim forces) were used to train intention estimation models and characterize implicit user intentions when performing daily life wheelchair maneuvers. These intentions included moving straight forward, performing a right/left turn, and braking. The intention estimation framework, based on random forest classification algorithms and kinetic features, was implemented and tested in our laboratory-developed PAPAW. This computationally efficient framework was successfully implemented and tested for each participant in real-time. Our results revealed that the real-time user intention predictions were similar to the offline models. The power-assist ratio of each wheel was adjusted based on which user intention was identified. Data collected from four participants provided evidence regarding the effectiveness of using adaptive intention-based controllers. For instance, the propulsion effort was significantly reduced when using an adaptive PAPAW controller. Subjective views of participants regarding the workload of wheelchair propulsion (e.g., physical/cognitive effort) were also gathered. Our findings suggest that rankings of different controllers varied among different participants and across different wheelchair maneuvers, indicating the need for customized adaptive controllers to fit different users’ activities and preferences. [ABSTRACT FROM AUTHOR]

With more readily available commercial immersive virtual reality (VR) technologies, the potential of new feedback strategies as tools to facilitate motor rehabilitation should be investigated. Augmented feedback or error augmentation (EA) can easily be shown in a virtual environment. Here, visual EA provided via immersive VR was tested for its effectiveness to improve bimanual symmetry in a reaching task. A single-session crossover design was used to test two training cases, with or without EA. With EA, the distance between hands in the forward direction was augmented. Participants were recruited from typically developing (TD) populations (n = 12, ages 13–21) and performed in an adapted environment with an initial asymmetry between limbs. Also, five participants with hemiplegic cerebral palsy (CP) (ages 14–21, MACS I-III) completed the study. Among TD participants, a significantly larger change in symmetry in the adapted environment was shown after EA than training without EA (F (1, 10) = 9.64, p = 0.01). Each participant in the CP group also improved more after EA training (8.8–103.7)%, such that they achieved lower symmetry error after training with EA. As participants in both groups adapted more symmetrically with EA, beneficial changes from this training method could be evaluated in future studies for longer-term functional changes. [ABSTRACT FROM AUTHOR]

The study of modulated electron beams is important because they can be used to produce coherent radiation, but the modulations can cause unwanted instabilities in some devices. Specifically, in a free electron laser, proper prebunching at the desired emission frequency can enhance performance, while bunching resulting from instabilities and bunch compression schemes can degrade performance. In a photoinjector accelerator, tailoring the shape of the drive laser pulse could be used as a technique to either enhance or mitigate the effect of these modulations. This work explores the possibility of creating deeply modulated electron beams at the photocathode by using a modified drive laser designed to produce multiple subpicosecond pulses repeated at terahertz frequencies. Longitudinal space charge forces can strongly influence the evolution of modulations by converting density modulations to energy modulations. Experiments at the Source Development Laboratory electron accelerator at Brookhaven National Laboratory and PARMELA simulations are employed to explore the dynamics of electron beams with varying charge and with varying initial modulation. Finally, terahertz light generated by a transition radiator is used to confirm the structure of the electron beam. [ABSTRACT FROM AUTHOR]

Background: Compensatory movements are commonly employed by stroke survivors, and their use can have negative effects on motor recovery. Current practices to reduce them rely on strapping a person to a chair. The use of technology to substitute or supplement this methodology has not being thoroughly investigated. Objective: To compare the use of Scores + Visual + Force and Visual + Force feedback for reducing trunk compensation. Methods: Fourteen hemiparetic stroke survivors performed bimanual reaching movements while receiving feedback on trunk compensation. Participants held onto two robotic arms and performed movements in the anterior/posterior direction toward a target displayed on a monitor. A motion-tracking camera tracked trunk compensation; the robots provided force feedback; the monitor displayed the visual feedback and scores. Kinematic variables, a post-test questionnaire, and system usability were analyzed. Results: Both conditions reduced trunk compensation from baseline: Scores + Visual + Force: 51.7% (40.8), p = 0.000; Visual + Force: 55.2% (40.9), p = 0.000. No statistically significant difference was found between modalities. Secondary outcome measures were not improved. Most participants would like to receive game scores to reduce trunk compensation, and the usability of the system was rated “Good.” Conclusions: Multimodal feedback about stroke survivors’ trunk compensation levels resulted in reduced trunk displacement. No difference between feedback modalities was obtained. The positive effects of including game scores might not have been observed in a short-term intervention. Longer studies should investigate if the use of game scores could result in trunk compensation improvements when compared to trunk restraint strategies. Clinical Trial Registration: Clinicaltrials.gov, NCT02912923, https://clinicaltrials.gov/ct2/show/NCT02912923?term=reaching+in+stroke&rank=2. [ABSTRACT FROM AUTHOR]