iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots.

We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia. More precisely, the paper makes two contributions: First, we present the humanoid iCub3 as a robotic avatar that integrates the latest significant improvements after about 15 years of development of the iCub series. Second, we present a versatile avatar system enabling humans to embody humanoid robots encompassing aspects such as locomotion, manipulation, voice, and facial expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities. We validated the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, nonverbal, and physical interactions with a remote recipient. This testing involved the operator in Genoa and the avatar in the Biennale di Venezia, Venice-about 290 kilometers away-thus allowing the operator to visit the Italian art exhibition remotely. Second, we evaluated the optimized architecture for recipient physical collaboration and public engagement on stage, live, at the We Make Future show, a prominent world digital innovation festival. In this instance, the operator was situated in Genoa while the avatar operated in Rimini-about 300 kilometers away-interacting with a recipient who entrusted the avatar with a payload to carry on stage before an audience of approximately 2000 spectators. Third, we present the architecture implemented by the iCub Team for the All Nippon Airways (ANA) Avatar XPrize competition.

Eye-Tracking in Physical Human-Robot Interaction: Mental Workload and Performance Prediction.

BACKGROUND: In Physical Human-Robot Interaction (pHRI), the need to learn the robot's motor-control dynamics is associated with increased cognitive load. Eye-tracking metrics can help understand the dynamics of fluctuating mental workload over the course of learning. OBJECTIVE: The aim of this study was to test eye-tracking measures' sensitivity and reliability to variations in task difficulty, as well as their performance-prediction capability, in physical human-robot collaboration tasks involving an industrial robot for object comanipulation. METHODS: Participants (9M, 9F) learned to coperform a virtual pick-and-place task with a bimanual robot over multiple trials. Joint stiffness of the robot was manipulated to increase motor-coordination demands. The psychometric properties of eye-tracking measures and their ability to predict performance was investigated. RESULTS: Stationary Gaze Entropy and pupil diameter were the most reliable and sensitive measures of workload associated with changes in task difficulty and learning. Increased task difficulty was more likely to result in a robot-monitoring strategy. Eye-tracking measures were able to predict the occurrence of success or failure in each trial with 70% sensitivity and 71% accuracy. CONCLUSION: The sensitivity and reliability of eye-tracking measures was acceptable, although values were lower than those observed in cognitive domains. Measures of gaze behaviors indicative of visual monitoring strategies were most sensitive to task difficulty manipulations, and should be explored further for the pHRI domain where motor-control and internal-model formation will likely be strong contributors to workload. APPLICATION: Future collaborative robots can adapt to human cognitive state and skill-level measured using eye-tracking measures of workload and visual attention.

Design and Validation of a Low-Level Controller for Hierarchically Controlled Exoskeletons.

In this work, a generalized low-level controller is presented for sensor collection, motor input, and networking with a high-level controller. In hierarchically controlled exoskeletal systems, which utilize series elastic actuators (SEAs), the hardware for sensor collection and motor command is separated from the computationally expensive high-level controller algorithm. The low-level controller is a hardware device that must collect sensor feedback, condition and filter the measurements, send actuator inputs, and network with the high-level controller at a real-time rate. This research outlines the hardware of two printed circuit board (PCB) designs for collecting and conditioning sensor feedback from two SEA subsystems and an inertial measurement unit (IMU). The SEAs have a joint and motor encoder, motor current, and force sensor feedback that can be measured using the proposed generalized low-level controller presented in this work. In addition, the high and low-level networking approach is discussed in detail, with a full breakdown of the data storage within a communication frame during the run-time operation. The challenges of device synchronization and updates rates of high and low-level controllers are also discussed. Further, the low-level controller was validated using a pendulum test bed, complete with full sensor feedback, including IMU results for two open-loop scenarios. Moreover, this work can be extended to other hierarchically controlled robotic systems that utilize SEA subsystems, such as humanoid robots, assistive rehabilitation robots, training simulators, and robotic-assisted surgical devices. The hardware and software designs presented in this work are available open source to enable researchers with a direct solution for data acquisition and the control of low-level devices in a robotic system.

Characterization of the Continuous Elastic Parameters of Porcine Vocal Folds.

This paper presents an evaluation of the elastic properties of porcine vocal folds through uniaxial tensile tests. Inferior vocal fold tissue samples were subjected to tension in the longitudinal direction while digital image correlation techniques were employed to determine strain values throughout the tests. The stress-strain results showed a low-strain linear region, followed by both a nonlinear exponential and then a higher strain linear region. Data from 16 porcine vocal fold samples were analyzed following a similar optimization method as proposed in prior studies [1] to yield continuous model parameters which describe the elastic properties of the tissue. The average low and high strain linear modulus values were found to be 17.86 kPa and 609.27 kPa, respectively. The model also identified the location of two transition points: p1, describing the transition from the low-strain linear region to an exponential region at 0.122 ±â€¯0.058 mm/mm and p2, describing the transition from the exponential to the high strain linear region at 0.308 ±â€¯0.069 mm/mm. The exponential region of the averaged data set was found to be described by the relationship [Formula: see text] kPa. In addition to locating transition points, the optimization method maintained modulus continuity across all strain values. Averaged elastic modulus values across strain from 0 to 0.40 mm/mm were compared to representative low and high strain linear modulus which were measured at 0.05 and 0.35 mm/mm, respectively. Statistically significant differences were found among all strain intervals between the two transition points and the linear modulus values. These results indicate the need to consider the location of transition points and further highlight the nonlinearity and changes in elastic modulus which are especially important when using excised porcine vocal folds as a model for phonation. The results quantify continuous linear and nonlinear parameters describing the elastic properties which can be used as a framework for future excised larynx tests and while evaluating the dynamics of sound production, which rely heavily on the elastic properties of the tissue.

Comparing brain connectivity metrics: a didactic tutorial with a toy model and experimental data.

OBJECTIVE: The objective of this paper is to didactically compare resting state connectivity networks computed using two different methods called phase locking value (PLV) and convergent cross-mapping (CCM). PLV is a ubiquitous measure of connectivity in electrophysiological research but is less often applied to fMRI BOLD timeseries since this model-based metric assumes that oscillatory coupling is a sufficient condition for connectivity. Alternatively, CCM is a model-free method, which detects potentially nonlinear causal influences based on the ability to estimate one timeseries with another and does not assume an oscillatory structure. APPROACH: We use a toy dataset to test the PLV and CCM algorithms under different known synchronization conditions. Additionally, experimental resting state EEG and fMRI datasets are used for comparison. MAIN RESULTS: The results show that the resting state brain networks computed using both algorithms produce similar results for both resting state EEG and fMRI datasets. For both neuroimaging datasets, the network characteristics follow the same trends and the similarity between the computed networks, for both algorithms, is highly significant. SIGNIFICANCE: CCM is able to identify low or one-way connection strengths better than PLV but takes exponentially longer to compute. Based on these results, PLV provides a good metric for on-line network identification because it is both computationally fast and an excellent approximation of the network computed with CCM.

Classical and adaptive control of ex vivo skeletal muscle contractions using Functional Electrical Stimulation (FES).

Functional Electrical Stimulation is a promising approach to treat patients by stimulating the peripheral nerves and their corresponding motor neurons using electrical current. This technique helps maintain muscle mass and promote blood flow in the absence of a functioning nervous system. The goal of this work is to control muscle contractions from FES via three different algorithms and assess the most appropriate controller providing effective stimulation of the muscle. An open-loop system and a closed-loop system with three types of model-free feedback controllers were assessed for tracking control of skeletal muscle contractions: a Proportional-Integral (PI) controller, a Model Reference Adaptive Control algorithm, and an Adaptive Augmented PI system. Furthermore, a mathematical model of a muscle-mass-spring system was implemented in simulation to test the open-loop case and closed-loop controllers. These simulations were carried out and then validated through experiments ex vivo. The experiments included muscle contractions following four distinct trajectories: a step, sine, ramp, and square wave. Overall, the closed-loop controllers followed the stimulation trajectories set for all the simulated and tested muscles. When comparing the experimental outcomes of each controller, we concluded that the Adaptive Augmented PI algorithm provided the best closed-loop performance for speed of convergence and disturbance rejection.

The effect of binaural beats on verbal working memory and cortical connectivity.

OBJECTIVE: Synchronization in activated regions of cortical networks affect the brain's frequency response, which has been associated with a wide range of states and abilities, including memory. A non-invasive method for manipulating cortical synchronization is binaural beats. Binaural beats take advantage of the brain's response to two pure tones, delivered independently to each ear, when those tones have a small frequency mismatch. The mismatch between the tones is interpreted as a beat frequency, which may act to synchronize cortical oscillations. Neural synchrony is particularly important for working memory processes, the system controlling online organization and retention of information for successful goal-directed behavior. Therefore, manipulation of synchrony via binaural beats provides a unique window into working memory and associated connectivity of cortical networks. APPROACH: In this study, we examined the effects of different acoustic stimulation conditions during an N-back working memory task, and we measured participant response accuracy and cortical network topology via EEG recordings. Six acoustic stimulation conditions were used: None, Pure Tone, Classical Music, 5 Hz binaural beats, 10 Hz binaural beats, and 15 Hz binaural beats. MAIN RESULTS: We determined that listening to 15 Hz binaural beats during an N-Back working memory task increased the individual participant's accuracy, modulated the cortical frequency response, and changed the cortical network connection strengths during the task. Only the 15 Hz binaural beats produced significant change in relative accuracy compared to the None condition. SIGNIFICANCE: Listening to 15 Hz binaural beats during the N-back task activated salient frequency bands and produced networks characterized by higher information transfer as compared to other auditory stimulation conditions.

The Effect of Binaural Beats on Visuospatial Working Memory and Cortical Connectivity.

Binaural beats utilize a phenomenon that occurs within the cortex when two different frequencies are presented separately to each ear. This procedure produces a third phantom binaural beat, whose frequency is equal to the difference of the two presented tones and which can be manipulated for non-invasive brain stimulation. The effects of binaural beats on working memory, the system in control of temporary retention and online organization of thoughts for successful goal directed behavior, have not been well studied. Furthermore, no studies have evaluated the effects of binaural beats on brain connectivity during working memory tasks. In this study, we determined the effects of different acoustic stimulation conditions on participant response accuracy and cortical network topology, as measured by EEG recordings, during a visuospatial working memory task. Three acoustic stimulation control conditions and three binaural beat stimulation conditions were used: None, Pure Tone, Classical Music, 5Hz binaural beats, 10Hz binaural beats, and 15Hz binaural beats. We found that listening to 15Hz binaural beats during a visuospatial working memory task not only increased the response accuracy, but also modified the strengths of the cortical networks during the task. The three auditory control conditions and the 5Hz and 10Hz binaural beats all decreased accuracy. Based on graphical network analyses, the cortical activity during 15Hz binaural beats produced networks characteristic of high information transfer with consistent connection strengths throughout the visuospatial working memory task.

Validation of Underwater Sensor Package Using Feature Based SLAM.

Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package.